CN113119105A - Robot multi-machine linkage control method, multi-machine linkage control equipment and control system - Google Patents
Robot multi-machine linkage control method, multi-machine linkage control equipment and control system Download PDFInfo
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- CN113119105A CN113119105A CN201911423040.6A CN201911423040A CN113119105A CN 113119105 A CN113119105 A CN 113119105A CN 201911423040 A CN201911423040 A CN 201911423040A CN 113119105 A CN113119105 A CN 113119105A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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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 application discloses a robot multi-machine linkage control method, multi-machine linkage control equipment and a control system, wherein the robot multi-machine linkage control method comprises the following steps: defining a workpiece coordinate system of the current robot in a flange coordinate system of another robot by a main control unit so as to enable a plurality of robots to realize coordinate system linkage; planning a motion track of each robot linked by a coordinate system and generating a corresponding control instruction, wherein each robot meets the same constraint condition; and sending each control instruction to the corresponding robot so that the robot moves according to the corresponding motion trail. Through the mode, the multiple robots can be controlled to be linked by only adopting one main control unit, the cost of a multi-robot linkage system is reduced, and the real-time performance of multi-robot linkage is improved.
Description
Technical Field
The application relates to the technical field of industrial robots, in particular to a robot multi-machine linkage control method, multi-machine linkage control equipment and a control system.
Background
With the increasing requirements of industrial production on production efficiency and production quality, industrial robots are used in large quantities in industrial production due to the advantages of high assembly accuracy, settable speed, uninterrupted work and the like, so that labor force is greatly liberated and production cost is reduced.
At present, when a plurality of robots are controlled to process a workpiece, each robot is generally provided with a main controller, when the workpiece is processed, only after a certain robot runs to a certain point position according to a planned track, the controller of the robot communicates with the controller of another robot, the other robot starts to run according to the planned track, and the whole control system is high in cost, poor in synchronism and low in efficiency.
Disclosure of Invention
The technical problem mainly solved by the application is to provide a robot multi-machine linkage control method, a multi-machine linkage control device and a control system, multiple robots can be controlled to be linked by only adopting one main control unit, the cost of the multi-machine linkage system is reduced, and the instantaneity of multi-machine linkage is improved.
In order to solve the technical problem, the application adopts a technical scheme that: the robot multi-machine linkage control method comprises the following steps:
defining a workpiece coordinate system of the current robot in a flange coordinate system of another robot by a main control unit so as to enable a plurality of robots to realize coordinate system linkage; planning a motion track of each robot linked by a coordinate system and generating a corresponding control instruction, wherein each robot meets the same constraint condition; and sending each control instruction to the corresponding robot so that the robot moves according to the corresponding motion trail.
Wherein, before the step of defining the workpiece coordinate system of the current robot in the flange coordinate system of another robot so that the robots realize coordinate system linkage, the method comprises the following steps:
and taking the robot coordinate system of one of the robots as a world coordinate system to calibrate the positions of the rest of the robots relative to one of the robots, thereby determining the relative position relationship of the robots.
Wherein, before the step of defining the workpiece coordinate system of the current robot in the flange coordinate system of another robot so that the robots realize coordinate system linkage, the method comprises the following steps:
and receiving the position of the robot coordinate system of each robot in the world coordinate system input by a user to determine the relative position relationship of the robots.
Before the step of planning the motion trajectory of each robot linked by the coordinate system and generating the corresponding control instruction, the method further comprises:
obtaining the overlapping area range of the parameter range of each robot; and using the overlapping area range as the constraint condition to constrain each robot.
Wherein the constraint condition comprises at least one of speed, acceleration, jerk and moment.
Wherein the step of defining the object coordinate system of the current robot in the flange coordinate system of the other robot further comprises:
and selecting a flange coordinate system of one of the robots, and defining the workpiece coordinate systems of the rest of the robots in the selected flange coordinate system of the robot.
In order to solve the above technical problem, another technical solution adopted by the present application is: provided is a robot multi-robot linkage control apparatus including:
the robot multi-machine linkage control method comprises a main controller and a field bus, wherein the field bus is used for connecting a robot, and the main controller is coupled with the field bus to realize the robot multi-machine linkage control method.
Wherein the control apparatus further comprises:
an input output processor for providing an input interface for a user to input a position of each of the robots in the world coordinate system and to send the position to the master controller.
In order to solve the above technical problem, another technical solution adopted by the present application is: provided is a robot multi-robot linkage control system, including:
the robot multi-machine linkage control method comprises a main controller, a plurality of robots and a field bus, wherein the main controller is connected with the robots through the field bus so as to realize the robot multi-machine linkage control method.
In order to solve the above technical problem, another technical solution adopted by the present application is: there is provided an apparatus having a storage function, on which program data is stored, wherein the program data is executed by a processor to be executed between a main controller and a robot to implement the robot multi-machine linkage control method described above.
The beneficial effect of this application is: different from the prior art, the method and the device have the advantages that only one main control unit is adopted to link the coordinate systems of the multiple robots, the common constraint conditions are utilized to synchronously plan the motion track of each robot and generate the corresponding control instruction to be sent to each robot for synchronous execution, the number of the main control units is reduced, the cost of a robot control system is saved, and the real-time performance of linkage of the multiple robots is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:
FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a robot multi-robot linkage control method according to the present application;
fig. 2 is a schematic flowchart of another embodiment of the robot multi-robot linkage control method before step S101 in fig. 1;
FIG. 3 is a schematic structural diagram of an embodiment of a robot multi-robot linkage control device according to the present application;
FIG. 4 is a schematic structural diagram of an embodiment of a robot multi-machine linkage control system according to the present application;
fig. 5 is a schematic structural diagram of an embodiment of an apparatus with a storage function provided in the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a robot multi-machine linkage control method according to the present application, the method including:
step S101: the main control unit defines the workpiece coordinate system of the current robot in the flange coordinate system of another robot, so that the robots realize coordinate system linkage.
Specifically, in step 101, the flange coordinate system is a coordinate system defined by using the flange of the robot as an origin, and the workpiece coordinate system is a coordinate system associated with the workpiece processed by the robot. The main control unit can select one robot and a flange coordinate system of the robot, workpiece coordinate systems of the rest robots are defined in the flange coordinate system, when the track of the selected robot changes, the flange position of the robot changes, the flange coordinate system of the robot changes accordingly, the workpiece coordinate systems of the rest robots defined in the flange coordinate system change accordingly, and linkage among the coordinate systems of the plurality of robots is finally achieved.
Step S102: and planning a motion track of each robot linked by the coordinate system and generating a corresponding control command, wherein each robot meets the same constraint condition.
Specifically, in step 102, each robot stand-alone system has an independent control parameter, and for all robots that have realized coordinate system linkage, the main control unit first acquires the independent control parameter of each robot stand-alone system when planning the motion trajectory of each robot, and then screens and acquires the value range of the parameter in the coincidence area of each robot parameter, and uses the value range in the coincidence area as a constraint condition to constrain each robot. Specifically, the main control unit obtains the value ranges of each control parameter of all robots, and selects the overlapped part of the value ranges of each control parameter as the constraint condition of all robot control parameters, such as: the value range of the speed value of the current robot is 0.5-2m/s, and the value range of the speed value of the other robot is 1-3m/s, and then 1-2m/s is selected as the constraint condition of the speed values of the two robots. When the motion trail of the robot is planned, the parameters needing to be constrained at least comprise one of speed, acceleration, jerk and moment.
In addition, in this embodiment, when planning the motion trajectory of each robot, the main control unit communicates with each robot in a communication manner (such as mutual exclusion lock and semaphore) between threads, so that the main control unit synchronously plans the motion trajectory of each robot and generates a control instruction.
Step S103: and sending each control instruction to the corresponding robot so that the robot moves according to the corresponding motion track.
Specifically, in step 103, each robot standalone system has an independent control thread, and after the control instruction corresponding to the respective motion trajectory of each robot is sent to each robot standalone system, the control instruction runs on the independent thread of each robot standalone system, and the main control unit communicates with each robot standalone system and each robot standalone system in a communication manner between threads, so that when the motion trajectories of multiple robots need a strict time sequence, the communication can be performed rapidly.
According to the robot multi-machine linkage control method provided by the embodiment, the coordinate systems of the plurality of robots are linked by only adopting one main control unit, the motion track of each robot is synchronously planned by utilizing common constraint conditions and a control instruction is generated, the main control unit communicates with the robots and the robots in a thread-to-thread communication mode, the number of the main control units is reduced, the cost of a robot control system is saved, and the reliability and the real-time performance of communication when the plurality of robots are linked are improved.
Referring to fig. 2, fig. 2 is a schematic flowchart of another embodiment of the robot multi-robot linkage control method before step S101 in fig. 1, the method further includes:
step S201: the robot coordinate system of one of the robots is taken as the world coordinate system.
Specifically, in step 201, the world coordinate system is a common coordinate system common to all robots and is fixed.
Step S202: and calibrating the positions of the rest robots relative to one of the robots, and further determining the relative position relationship of the robots.
Specifically, in step 202, the robot coordinate system is generally a coordinate system defined by using the robot spindle mounting position as an original point, and is a coordinate system unique to the robot, so that each robot has its own robot coordinate system. The main control unit takes a robot coordinate system of a certain robot as a world coordinate system, and then other robots determine the positions of the rest robots in the world coordinate system by using a calibration method (such as a calibration method using a top point 4), so as to determine the position relation among the robots, so that the main control unit can determine the position of each robot before the coordinate systems are associated.
In a specific application scenario, a production line is provided with 4 robots, namely, the robots 1-4, the 4 robots can operate the same workpiece or different workpieces, the main control unit selects the robot 1 and uses the robot coordinate system of the robot 1 as a world coordinate system, coordinates of the other robots in the world coordinate system are determined by a top 4-point calibration method, and then the main control unit determines the position of each robot in the world coordinate system so as to determine the mutual positions of the coordinate systems of the robots. The main control unit selects a flange coordinate system of one of the robots, such as: a flange coordinate system of the No. 1 robot is defined in the flange coordinate system of the No. 1 robot, the workpiece coordinate system of the No. 2-4 robot is defined in the flange coordinate system of the No. 1 robot, the intersection in the control parameter range of each robot is selected as a constraint condition for the constraint of control parameters such as speed, acceleration, jerk, moment and the like to plan the motion track of each robot, the control instruction of an interpolation thread corresponding to each robot track is generated, the control instruction is sent to each robot in a mutually exclusive lock mode, the control instruction is executed by each robot, the communication state of the robots is kept, and all robots are enabled to operate one or more workpieces in a strict time sequence.
Optionally, in another specific application scenario, 4 robots, No. 1-4, are on a certain production line, and a user has an accurate mechanical drawing and directly inputs the position of the robot coordinate system of each robot in the world coordinate system on a user input interface according to the mechanical drawing, so that the main control unit determines the mutual position of each robot.
In another specific application scenario, when the main control unit realizes coordinate system linkage, the main control unit may further define the workpiece coordinate system of the robot No. 1 in the flange coordinate system of the robot No. 2, define the workpiece coordinate system of the robot No. 2 in the flange coordinate system of the robot No. 3, and so on, and finally define the workpiece coordinate system of the robot No. 4 in the flange coordinate system of the robot No. 1. The common constraint conditions of all robots are adopted to plan the respective motion track of each robot, and then when the same workpiece is operated, after the robot 1 moves, the flange coordinate system of the robot 1 changes, the workpiece coordinate system of the robot 4 defined in the flange coordinate system of the robot 1 changes accordingly, the motion track of the robot 4 changes, and the like, so that 4 robot coordinate system linkage is realized, and meanwhile, 4 robot tracks also synchronously change. In the application scene, the next robot does not need to change the motion track after the change of the track of the previous robot is finished, and the production efficiency is improved.
According to the robot multi-machine linkage control method provided by the embodiment, after the world coordinate system is determined, the positions of the robots are determined by using a calibration method or a mechanical drawing, and then the coordinate systems of the robots are related by using only one main control unit and the robots are synchronously controlled to operate a workpiece, so that the probability that a production line needs to be stopped for maintenance as long as a certain main control unit fails when a plurality of main control units exist is reduced, and the production efficiency of the production line is improved.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an embodiment of the robot multi-robot linkage control apparatus according to the present application, where the robot multi-robot linkage control apparatus 10 includes:
a main controller 12 and a field bus for connecting the robot. The main controller 12 is coupled to the fieldbus to implement the robot multi-robot linkage control method in the above embodiment, and the detailed description of the related contents refers to the above method section, which is not described in detail herein. In this embodiment, the fieldbus may be any fieldbus such as Controller Area Network (CAN), Ethernet for Control and Automation Technology (EtherCAT), RS232/RS485, and the fieldbus is not limited herein.
Optionally, the multi-machine linkage control device 10 further includes: an input output processor 14. The input and output processor 14 is configured to provide an input interface so that a user can input a position of the robot coordinate system of each robot in the world coordinate system, and send the position information to the main controller 12, and in addition, the input and output processor 14 is further configured to provide a backup circuit of a safety link, so as to ensure that the robot multi-machine linkage control device 10 can be stopped and the device safety is ensured under the condition that a software program of the main controller 12 fails.
The robot multi-machine linkage control device 10 provided by the embodiment provides an input interface for a user through the input/output processor 14, and sends data input by the user to the main controller 12, only one main controller 12 is required to be connected with the robots through a field bus, so as to control linkage between the robots, and thus the cost of the robot multi-machine linkage control device 10 is greatly saved.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an embodiment of the robot multi-machine linkage control system 20 according to the present application, including:
the robot multi-robot linkage control system comprises a main controller 22, a plurality of robots 26 and a field bus 24, wherein the main controller 22 is connected with the plurality of robots 26 through the field bus 24 to realize the robot multi-robot linkage control method in the embodiment. In this embodiment, the fieldbus 24 may be Ethernet (EtherCAT) for Control and Automation Technology, but is not limited thereto.
In a specific application scenario, among the plurality of robots 26, the single robot 261 includes at least one servo driver 262 and a plurality of motors 264, wherein the servo drivers 262 are connected with the fieldbus 24 through a network cascade interface. After receiving the positions of the robots 26 input by the user, the main controller 22 selects a flange coordinate system of a certain robot and defines working coordinate systems of other robots in the flange coordinate system, and further associates the coordinate systems of the robots 26 with each other, the main controller 22 plans the respective movement tracks of the robots 26 under the constraint condition common to the robots 26 and generates corresponding control commands, the main controller 22 sends the control commands to the servo driver 262 through the field bus 24, and the servo driver 262 executes the control commands to make the motors 264 mounted on the joints drive the body of the single robot 261 to move according to the planned movement tracks. In addition, when the servo driver 262 executes the control command, the main controller 22 and the multiple robots 26 can still communicate with each other through the fieldbus 24, so that information interaction can be rapidly completed in real time when strict timing is required among the multiple robots 26.
The robot multi-machine linkage control system 20 provided by the embodiment can control a plurality of robots 26 to operate a workpiece according to a planned motion track by only adopting one main controller 22, and meanwhile, the field bus 24 ensures the real-time performance of data transmission and communication, and compared with the traditional system with a plurality of main controllers 22, the whole system is simpler, more convenient to maintain and higher in working efficiency.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an embodiment of the apparatus with storage function provided in the present application, wherein the apparatus with storage function 30 is used in a process 300, and the process 300 is executed by a processor to implement the robot multi-machine linkage control method in the above embodiments, and the detailed description of the related contents refers to the above method section and is not repeated herein.
The device 30 with a storage function may be a server, a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various devices capable of storing program codes.
In the several embodiments provided in the present application, it should be understood that the disclosed method, apparatus, and system may be implemented in other manners. For example, the device embodiments described above are merely illustrative, e.g., multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. A robot multi-machine linkage control method is characterized by comprising the following steps:
defining a workpiece coordinate system of the current robot in a flange coordinate system of another robot by a main control unit so as to enable a plurality of robots to realize coordinate system linkage;
planning a motion track of each robot linked by a coordinate system and generating a corresponding control instruction, wherein each robot meets the same constraint condition;
and sending each control instruction to the corresponding robot so that the robot moves according to the corresponding motion trail.
2. The robot-multi-robot linkage control method according to claim 1, wherein the step of defining the workpiece coordinate system of the current robot in the flange coordinate system of another robot so that a plurality of the robots realize coordinate system linkage is preceded by the step of:
and taking the robot coordinate system of one of the robots as a world coordinate system to calibrate the positions of the rest of the robots relative to one of the robots, thereby determining the relative position relationship of the robots.
3. The robot-multi-robot linkage control method according to claim 1, wherein the step of defining the workpiece coordinate system of the current robot in the flange coordinate system of another robot so that a plurality of the robots realize coordinate system linkage is preceded by the step of:
and receiving the position of the robot coordinate system of each robot in the world coordinate system input by a user to determine the relative position relationship of the robots.
4. The robot-multi-robot linkage control method according to claim 1, wherein before the step of planning the motion trajectory of each robot linked by the coordinate system and generating the corresponding control command, the method further comprises:
obtaining the overlapping area range of the parameter range of each robot;
and using the overlapping area range as the constraint condition to constrain each robot.
5. The robot multi-machine linkage control method according to claim 1 or 4, wherein the constraint condition comprises at least one of speed, acceleration, jerk and moment.
6. The robot-multi-robot linkage control method according to claim 1, wherein the step of defining the workpiece coordinate system of the current robot in the flange coordinate system of another robot further comprises:
and selecting a flange coordinate system of one of the robots, and defining the workpiece coordinate systems of the rest of the robots in the selected flange coordinate system of the robot.
7. A robot multi-robot linkage control apparatus, characterized in that the control apparatus comprises:
a master controller and a fieldbus for connecting a robot, the master controller being coupled to the fieldbus to perform the method of any of claims 1 to 6.
8. The robot-multirobot linkage control device according to claim 7, wherein said control device further comprises:
an input output processor for providing an input interface for a user to input a position of each of the robots in the world coordinate system and to send the position to the master controller.
9. A robot multi-robot linkage control system, the control system comprising:
a main controller, a plurality of robots, and a fieldbus, the main controller being connected to the plurality of robots by the fieldbus to perform the method of any of claims 1 to 6.
10. An apparatus having a storage function, on which program data is stored, characterized in that,
the program data is executed by a processor to perform the method of any of claims 1-6 between a master controller and a robot.
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Application publication date: 20210716 |