CN100361074C - Visualized three-dimensional graphic control programming method - Google Patents
Visualized three-dimensional graphic control programming method Download PDFInfo
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- CN100361074C CN100361074C CNB2005100288857A CN200510028885A CN100361074C CN 100361074 C CN100361074 C CN 100361074C CN B2005100288857 A CNB2005100288857 A CN B2005100288857A CN 200510028885 A CN200510028885 A CN 200510028885A CN 100361074 C CN100361074 C CN 100361074C
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Abstract
The present invention relates to a visualized three-dimensional figure controlling and programming method which belongs to the technical field of a robot. The method of a strip cartoon formed by intercepting a series of three-dimensional figure simulation pictures is used, and a sequence picture of the pose of the robot is obtained by using the grab of a screen picture and a compression technique. Corresponding robot pose data are given, and a basic composition unit icon of a program is formed. A plurality of Icons form a basic robot action program Motion according to order. A plurality of motion programs are edited and flexibly combined together, so a set of more complete robot motion program Scenario is formed to realize the programming of the robot. The branch circulation and the logical judgement in the past program are spurned in the basic robot motion program and are replaced with a reserved I/O for setting the program. The complexity of the program is reduced to realize the simple interaction ability of the robot and the outside. The present invention has the advantages of strong popularity and obvious enhancement of programming efficiency and provides a practicable programming method for the popularization of the robot.
Description
Technical field
What the present invention relates to is the method in a kind of Robotics field, specifically is a kind of visualized three-dimensional graphic control programming method.
Background technology
Enter 21 century, along with science and technology development, Robotics is maked rapid progress, and robot just plays a greater and greater role at modern industry and daily life.Robot toy from the production line of automobile to family expenses, the application of robot constantly enlarges, the user of robot also from the operating personnel of specialty to common user.Along with popularizing of robot, the programming of robot is just becoming more and more important problem.More directly perceived lively, simple for the programming that makes robot, a lot of new programmed methods have been carried.The programming of LEGO robot is more typically arranged, adopt the graphic programming mode, need not write the code of any text formatting, the readability of program is strong, is convenient to developer's study and maintenance program.But above programming mode on intuitive and operability and the organizational form of program improved necessity is still arranged, and need the user to possess certain robotic programming knowledge, make robot in the process of popularizing, still have certain degree of difficulty.
Find through literature search prior art, U.S.'s patent of invention numbers 20050149231, patent name: " Method and a system for programming an industrial robot " (a kind of method and system at the industrial robot programming) discloses a kind of programmed method at industrial robot, this method obtained the information of some points in the robot path before this, and utilize storage unit that they are stored away, utilize the information of the point of having stored and virtual robot model then, simulate the path of robot, and generate a path that replaces virtual robot by figured path by a figure generation module.But the method the time does not adopt three-dimensional picture control in programming, and just when showing with the path that demonstrates robot of three-dimensional picture image.And this method need be carried out online programming to robot.Therefore, be necessary to develop a kind of robot off-line teaching programing system, and adopt three-dimensional picture control, make program more directly perceived, the user is easier to operation.
Summary of the invention
The objective of the invention is to deficiency at existing robotic programming method, a kind of visualized three-dimensional graphic control programming method is proposed, make it form the theory organization procedure of strip cartoon to intercept a series of robot three-dimensional figure (3D) emulated interface, and with the rationality of emulated robot proving program, cancelled the branch's circulation in the program in the past, logics such as judgement, reduced the complicacy of program, make calling program more directly perceived, the cartooning, this method also provides online programming and off-line programing dual mode simultaneously, and it is simple to have program composition, the programming efficiency advantages of higher.
The present invention is achieved by the following technical solutions, the present invention adopts to intercept a series of 3D emulated interfaces and forms the method for strip cartoon, the extracting and the compress technique of utilization screen picture, obtain the sequence of pictures of robot pose, and invest corresponding robot pose data, form the basic composition unit-Icon of program; By the robot motion-Motion program of some Icon according to sequencing primordial basis; Some Motion programs that will edit are again combined flexibly, just form the more complete robot motion's program one Scenario program of a cover, thereby realize the programming of robot, branch's circulation and logic determines in the program in the past in bare metal people motor program, have been abandoned, get and generation with the reservation I/O of setting program, reduced the complicacy of program, and realized robot and extraneous simple interaction capabilities with this.The present invention is based on robot kinematics's theory, employing is formed the method for strip cartoon to intercept a series of 3D emulated interfaces, form bare metal people motor program, again these bare metals people motor program is combined into sequentially a cover drama, can works out out complicated robot motion.
Below method of the present invention is further described, may further comprise the steps:
(1) adjusts each steering wheel of robot because the zero point drift that rigging error causes;
(2) the initial pose of robot is set;
(3) a newly-built program file is regulated the pose of the Icon of basic composition unit of each program.Point is got an Icon, select the fixed position (Waist, Left Foot, three selections of Right Foot are arranged) of robot, whether select online programming, adjust each joint angles then until desirable pose, select afterwards after the movement velocity by " OK " button, artificial window will be cut down and will be compressed into picture and be invested this Icon, and meanwhile, robot each joint angles and movement velocity at this moment also deposits among this Icon;
(4) after each Icon pose is adjusted, the I/O of bare metal human action Motion is set.Program is reserved with 2 Input, 2 Output.When Input was Enable, option had Motion and Output, and when selecting Output, this Output will only can be triggered by this Input, otherwise will be as independent O utput;
(5) preserving the Motion program that edits is local file;
(6) utilize the rationality of pose data among each Icon of simulating, verifying Motion program.If find that the pose data of certain Icon are unreasonable, directly correction gets final product in simulated environment;
(7) the Motion program that will verify downloads in the selected address of slave computer storer by serial communication interface and preserves;
(8) by upper computer software control real machine people, checking Motion program.If nonconforming pose data are arranged, will skip to the execution of (6) step;
(9) the complete robot motion's program Scenario of editor.Require Icon pose data end to end between the Motion to want consistent;
(10) verify with emulated robot;
(11) the Scenario program that will verify is downloaded in the selected address of slave computer by serial communication interface and preserves;
(12) by upper computer software control real machine people, checking Scenario program.If the program that needs adjusting angle is arranged, will according to circumstances skip to the whole Motion program of (6) step or skip to the whole Scenario program of (9) step.
The Icon of basic composition unit of described program is meant: extracting and the compress technique of utilization screen picture obtains the sequence of pictures of robot pose and invests corresponding robot pose data formation.
Described bare metal human action program Motion is meant: the Icon (as 30) by some constitutes according to sequencing.
Described robot motion's program Scenario is meant: the Motion program of the some (as 20) that edits is combined formation flexibly.
In the inventive method, utilize the setting of the Motion program being reserved I/O, replaced branch's circulation and logic determines in the robotic programming in the past, reduced the complicacy of program, and realize robot and extraneous simple interaction capabilities with this.During editor Motion program, the pose data of robot all are stored among each Icon that has picture, click this Icon, emulated robot will reappear the pose of preservation, the data of each joint angles also show in joint angles input text frame separately, drag bar and move to correspondence position simultaneously.Compare with classic method, the storage and the display packing of this kind routine data are more directly perceived, are easier to the user and check and revise.
Embodiment
Below technical scheme of the present invention is further described.
Humanoid robot with 17 degree of freedom is an example, with a kind of visualized three-dimensional graphic control control-register journey of JAVA language development and simulated environment, and the motion process that the emulated robot of being realized by the JAVA3D technology can the dynamic simulation robot.The extracting and the compress technique of utilization screen picture obtain the sequence of pictures of robot pose, and invest corresponding robot pose data, form basic composition the unit---Icon of program; By the Icon (as 30) of some according to sequencing, this robot motion---Motion program of primordial; Again the Motion program of the some (as 20) that edits is combined flexibly, just can form more complete robot motion's program---Scenario program of a cover, thus realize the programming of robot.
Below be the step of concrete realization:
Before programming, by serial communication interface the upper and lower machine is coupled together earlier, and guarantee that hardware effort is normal.
The zero point drift amount of robot steering wheel at first, is set.Read the zero point drift setting of present each steering wheel of robot of storing in the slave computer earlier.Afterwards, with the bar that drags of each joint correspondence on the mouse drag panel, the control steering wheel rotates.When each steering wheel all forwards null position to, the zero point drift setting of steering wheel is deposited in the fixed storage address of slave computer.
Then, carry out the setting of robot initial pose.When being provided with, can select online setting and off-line setting.During the initial pose of operated by rotary motion, selecting left foot or right crus of diaphragm is that fixed position is good, can after setting is finished, make robot integral body still be in virtual floor above.After adjustment finishes, initial pose data are saved in the fixing memory address of slave computer, and make the robot motion arrive initial pose.
Below just can carry out the establishment of Motion program.A newly-built Motion program is selected the 1st Icon, drag each joint correspondence drag bar, or in text box direct input joint angles.In the adjustment process, robot fixed position (Waist, Left Foot, Right Foot) can be switched, online programming or off-line programing can be selected.After pose is determined, by " OK " button, the pose data are kept at Icon inside, and artificial window that will this moment intercepts and be compressed into picture and be attached on the Icon, next Icon will enable automatically this moment.Profit uses the same method, and edits other Icon.
Icon edit finish after, the I/O of Motion program is set.Program is reserved with 2 Input, 2 Output.When Input was Enable, option had Motion and Output, and when selecting Output, this Output will only can be triggered by this Input, otherwise will be as independent O utput.
The Motion program is saved as local file, carry out simulating, verifying.If find that the pose data of certain Icon need to adjust, directly adjustment gets final product in simulated environment.
Then, the Motion program is downloaded in the selected memory address of slave computer by serial communication, and the motion by upper computer software control real machine people, checking Motion program.
After in slave computer, having deposited the Motion program of some, just the editor of Scenario program can have been carried out.The Motion program is combined according to sequencing, just become a Scenario program, the Scenario program is saved as local file, can carry out simulating, verifying earlier, the Scenario program is downloaded in the selected memory address of slave computer, the people verifies with real machine again.
The present invention has cancelled logics such as branch circulation in the program in the past, judgement, has reduced the complicacy of program, makes that calling program is more directly perceived, the cartooning, and it is simple to have program composition simultaneously, the programming efficiency advantages of higher.
Claims (8)
1, a kind of visualized three-dimensional graphic control programming method, it is characterized in that, employing is formed the method for strip cartoon to intercept a series of graphics Simulation pictures, the extracting of utilization screen picture and compress technique obtain the sequence of pictures of robot pose, and invest corresponding robot pose data, the Icon of basic composition unit of formation program, by some Icon according to sequencing, primordial robot motion programs Motion program originally, some Motion programs that will edit are again combined flexibly, just form the more complete robot motion's program Scenario program of a cover, thereby realize the programming of robot, in bare metal people motor program, abandoned branch's circulation and logic determines in the program in the past, get and generation with the reservation I/O of setting program, specifically comprise the steps:
(1) adjusts each steering wheel of robot because the zero point drift that rigging error causes;
(2) the initial pose of robot is set;
(3) a newly-built program file is regulated the pose of the Icon of basic composition unit of each program;
(4) after each Icon pose is adjusted, the I/O of Motion is set, program is reserved with 2 Input, 2 Output;
(5) preserving the bare metal human action program Motion program that edits is local file;
(6) utilize the rationality of pose data among each Icon of simulating, verifying Motion program;
(7) the Motion program that will verify downloads in the selected address of slave computer storer by serial communication interface and preserves;
(8) by upper computer software control real machine people, checking Motion program;
(9) the motor program Scenario of editor robot program;
(10) verify with emulated robot;
(11) the Scenario program that will verify is downloaded in the selected address of slave computer by serial communication interface and preserves;
(12) by upper computer software control real machine people, checking Scenario program.
2, visualized three-dimensional graphic control programming method according to claim 1, it is characterized in that, described step (3), be specially: point is got an Icon, select the fixed position of robot, whether select online programming, regulate each joint angles until desirable pose with dragging bar then, select afterwards after the movement velocity by " OK " button, artificial window will be cut down and will be compressed into picture and be invested this Icon, meanwhile, robot each joint angles and movement velocity at this moment also deposits among this Icon.
3, visualized three-dimensional graphic control programming method according to claim 2 is characterized in that, the fixed position of described robot has Waist, Left Foot, three selections of Right Foot.
4, visualized three-dimensional graphic control programming method according to claim 1 is characterized in that, in the described step (4), when Input was Enable, option had Motion and Output, when selecting Output, this Output will only can be triggered by this Input, otherwise will be as independent O utput.
5, visualized three-dimensional graphic control programming method according to claim 1 is characterized in that, in the described step (6), if find that the pose data of certain Icon need to regulate, directly regulates getting final product in simulated environment.
6, visualized three-dimensional graphic control programming method according to claim 1 is characterized in that, in the described step (8), if there are the pose data to need to regulate, will skip to the execution of (6) step.
7, visualized three-dimensional graphic control programming method according to claim 1 is characterized in that, in the described step (9), Icon pose data end to end between the Motion must be consistent.
8, visualized three-dimensional graphic control programming method according to claim 1, it is characterized in that, in the described step (12),, will skip to the whole Motion program of (6) step or skip to the whole Scenario program of (9) step if the program that needs adjusting angle is arranged.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2005100288857A CN100361074C (en) | 2005-08-18 | 2005-08-18 | Visualized three-dimensional graphic control programming method |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2005100288857A CN100361074C (en) | 2005-08-18 | 2005-08-18 | Visualized three-dimensional graphic control programming method |
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| CN1731348A CN1731348A (en) | 2006-02-08 |
| CN100361074C true CN100361074C (en) | 2008-01-09 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101570020B (en) * | 2009-01-21 | 2012-02-08 | 上海广茂达伙伴机器人有限公司 | Method and device for programming robot motion sequence |
| CN105467858B (en) * | 2015-12-01 | 2018-05-08 | 西安电子科技大学 | A kind of graphical Integrated Development Environment of robot control program |
| CN108804098A (en) * | 2018-05-23 | 2018-11-13 | 骅星科技发展有限公司 | A kind of click drawing type programmable control method and its software systems |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5495410A (en) * | 1994-08-12 | 1996-02-27 | Minnesota Mining And Manufacturing Company | Lead-through robot programming system |
| WO2003012636A1 (en) * | 2001-08-01 | 2003-02-13 | Microrobot Co., Ltd. | Apparatus and method for composing microrobot controle program |
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2005
- 2005-08-18 CN CNB2005100288857A patent/CN100361074C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5495410A (en) * | 1994-08-12 | 1996-02-27 | Minnesota Mining And Manufacturing Company | Lead-through robot programming system |
| US5880956A (en) * | 1994-08-12 | 1999-03-09 | Minnesota Mining And Manufacturing Company | Lead-through robot programming system |
| WO2003012636A1 (en) * | 2001-08-01 | 2003-02-13 | Microrobot Co., Ltd. | Apparatus and method for composing microrobot controle program |
Non-Patent Citations (1)
| Title |
|---|
| 基于计算机图形学的机器人臂部构型分析及工作空间仿真研究. 刘成良，张凯，付庄，曹其新，殷跃红.机电工程，第19卷第3期. 2002 * |
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