CN101551654B - Opened robot control method based on table programming and its system - Google Patents
Opened robot control method based on table programming and its system Download PDFInfo
- Publication number
- CN101551654B CN101551654B CN2009101067991A CN200910106799A CN101551654B CN 101551654 B CN101551654 B CN 101551654B CN 2009101067991 A CN2009101067991 A CN 2009101067991A CN 200910106799 A CN200910106799 A CN 200910106799A CN 101551654 B CN101551654 B CN 101551654B
- Authority
- CN
- China
- Prior art keywords
- robot
- joint
- coordinate
- coordinate system
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The invention discloses an opened robot control method based on table prgraming and its system, the method including the following steps: working out a table procedure in the control interface, to depict the movement gesture of the robot, and records the movement path of the robot; converting table procedure data, checking the process of the robot movement, at the same time setting the movement parameter of the robot; based on the table procedure data, the robot reading and performing the setup robot movement parameter. As a means of table procedureis adopted, and the check to the movement path of the robot is completed by data conversion function of the table procedure, and simultaneously movement parameter is added in the prgraming, to realize the operation control of opened robot based on table prgraming; and complex and time-consuming prgraming process of special robot speech is replaced by a prgraming mode of filling data in the table, so that the control and prgraming of the opened robot is directly simplified, and the operation service performance of the opened robot is significantly increased.
Description
Technical field
The present invention relates to the Computer Applied Technology field, in particular, what relate to is a kind of based on the opened obot control method of table prgraming and the improvement of system thereof.
Background technology
Control traditional industrial robot, the past is mainly based on hand-held control teaching machine, and the operator adopts this teaching machine robot is operated and to be programmed.Shown in the accompanying drawing 1, comprise industrial robot 101 and with the industrial control equipment 201 of its control linkage.The programming of traditional industry robot mostly needs to use special-purpose language for robot control, and operating personnel also will write robot manipulation's program according to processing technology of components to be processed; Yet, relate to space curve etc. when complex-curved when running into part to be processed, just be difficult to be described with special-purpose robot language coding, particularly under the situation of the robot of enterprise's employing different manufacturers, just seem particularly outstanding of such processing problems.
And present open robot's control system, mainly be again to have utilized PC and motion control card to replace conventional machines people's teaching machine, this had both expanded the machining functions of robot to a certain extent, had also reduced the complicacy of programming again by polytype programming language; But, aspect the manipulating of open robot, but be not significantly improved, do not reduce the threshold of the use operating aspect of robot yet.Shown in the accompanying drawing 2, comprise industrial robot 201 and with the industrial control equipment 202 of its control linkage, and the PC 203 that is connected with industrial control equipment 202 signals, and robot manipulation's complicacy will inevitably reduce production efficiency, also can in use increase production cost indirectly accordingly.
Therefore, prior art still haves much room for improvement and develops.
Summary of the invention
The objective of the invention is, be to provide a kind of opened obot control method and system thereof, can simplify open robot's control and programming based on table prgraming, and the performance of manipulating that can improve the open robot.
Technical scheme of the present invention is as follows:
A kind of opened obot control method based on table prgraming may further comprise the steps:
A, in control interface establishment table procedure, the athletic posture of described robot is described, write down the movement locus of described robot;
B, the described table procedure data of conversion are checked described robot motion's process, and the kinematic parameter of described robot is set simultaneously;
C, according to described table procedure data, read and carry out the athletic performance of setting by described robot.
Described opened obot control method, wherein, the process of establishment table procedure is the operation of a teach programming in the described steps A, is included in the operation of finishing described teach programming after the repetition following steps:
Each moves to desired location A11, the described robot of manual adjustment, and notes each joint motions angle of described robot of this moment;
A12, calculate the right angle spatial value of this desired location automatically, and record shows in the rectangular coordinate form in the joint coordinate system form;
The beginning or end of A13, input trajectory mark, and the port numbers and the state of a control of input control.
Described opened obot control method, wherein, the process of establishment table procedure is the operation of joint coordinates programming in the described steps A, is included in the operation of finishing described joint coordinates programming after the repetition following steps:
A21, the correspondence position in the joint coordinate system form are filled in the absolute motion angle in each joint of described robot;
The beginning or end of A22, input trajectory mark, and the port numbers and the state of a control of input control;
The track security of A23, the described joint of robot of self-verifying, and the right angle spatial value that calculates described robot automatically.
Described opened obot control method, wherein, the process of establishment table procedure is the operation of rectangular coordinate programming in the described steps A, is included in the operation of finishing described rectangular coordinate programming after the repetition following steps:
A31, the correspondence position in the world coordinate system form are filled in the right angle volume coordinate and the terminal attitude angle of described robot;
A32, when movement locus is a bowlder input motion radius, and the right angle volume coordinate of setting input is a home position;
A33, track sign kind is set, the beginning or end of input trajectory mark, and the port numbers and the state of a control of input control;
The track security of the set point of A34, the described robot of self-verifying.
Described opened obot control method, wherein, the process of the described table procedure data of conversion among the described step B, the operation for changing mutually between rectangular coordinate program and joint coordinates program comprises following step:
B11, generate a new coordinate program form, and read the first line data code in the former coordinate program;
B12, the movement locus safety whether of judging described robot are then to enter step B13, otherwise enter step B15;
The data code of B13, the described former coordinate program of conversion, and write into described new coordinate program;
B14, read the next line data in the described former coordinate program, change step B12 over to, data code of the last row in being transformed into described former coordinate program, and enter step B16 after writing described new coordinate program finishing;
B15, stop track conversion, give the track tabulation row that makes mistake prompting, enter step B17;
B16, with described new coordinate program display data, and finish the operation of conversion;
B17, according to the prompting of misdata row, the track of deletion error tabulation line data in described new coordinate program, and finish the operation of conversion.
Described opened obot control method wherein, reads and carries out the athletic performance process of setting among the described step C, adopt the operation of a joint coordinate system form, set kinematic parameter, and, carry out following steps from first line data of described joint coordinate system form:
C11, read each joint angles value, Trajectories Toggle, output terminal slogan and the output state thereof of described robot;
C12, carry out 6 moving interpolation according to described joint angles value and Trajectories Toggle;
C13, according to described output terminal slogan and output state thereof, control the corresponding port action;
C14, read the next line data of described joint coordinate system form, and repeat above-mentioned steps, until the data that read last column and execute above-mentioned operation.
Described opened obot control method, wherein, described step C reads and carries out the athletic performance process of setting, adopts the compile mode operation of world's coordinate system form, comprises the steps:
C21, setting kinematic parameter;
C22, world coordinates is compiled into the movement locus of described joint of robot coordinate, and record shows in a joint coordinate system form;
C23, according to the running order in the described joint coordinate system form, carry out corresponding athletic performance by described robot.
Described opened obot control method, wherein, described step C reads and carries out the athletic performance process of setting, adopt the interpretative system operation of world's coordinate system form, set kinematic parameter, and, carry out following steps from first line data of described world coordinate system form:
C31, read rectangular space coordinate value, Eulerian angle, track sign, Trajectories Toggle, output terminal slogan and output state thereof;
C32, described rectangular space coordinate is translated into joint coordinates, and carry out 6 moving interpolation according to described Eulerian angle and Trajectories Toggle;
C33, according to described output terminal slogan and output state thereof, control the corresponding port action;
C34, read the next line data of described world coordinate system form, repeat above-mentioned steps, until the data that read last column and execute above-mentioned operation.
A kind of open robot's control system based on table prgraming comprises a robot, an industrial control equipment and a multi-purpose computer, and described multi-purpose computer signal connects described industrial control equipment, the described robot of described industrial control equipment control linkage; Wherein, in the control interface of described multi-purpose computer, be provided with table procedure, be used to describe the athletic posture of the robot that obtains and write down its movement locus; Under the control of described industrial control equipment, the motion process of the described robot of data check by changing described table procedure; And described robot is used to read described table procedure data, the athletic performance that execution is set.
Described open robot's control system, wherein, described table procedure comprises a joint coordinate system form and world's coordinate system form; And described joint coordinate system form and world coordinate system form be on the nominated bank position in the form separately, be provided with described robot respectively import the action data of output point, wherein:
Described joint coordinate system form comprises, the end spaces rectangular coordinate of the X of described robot, Y, Z, and the absolute motion angle that comprises X angle, Y angle, Z angle, A angle, B angle and the C angle of described joint of robot;
Described world coordinate system form comprises, the rectangular space coordinate of the X of described robot, Y, Z, and the terminal attitude angle that comprises Eulerian angle Z, Eulerian angle Y and the Eulerian angle Zn of described robot.
A kind of opened obot control method and system thereof provided by the present invention based on table prgraming, owing to adopted the means of table procedure, and the data converting function by table procedure, finish inspection to robot motion's track; Simultaneously in programming, added kinematic parameter, on basis, realized open robot's operation control based on table prgraming; And, substituted complicated time-consuming special purpose robot's Programming with Pascal Language process by in form, filling in the programming mode of data, and directly simplified open robot's control and programming, significantly improved open robot's the performance of manipulating.
Description of drawings
Fig. 1 is the synoptic diagram of conventional machines people in the prior art;
Fig. 2 is the synoptic diagram of open robot in the prior art;
Fig. 3 is the interface synoptic diagram of joint coordinate system form among the present invention;
Fig. 4 is the interface synoptic diagram of world coordinate system form among the present invention;
Fig. 5 is the schematic flow sheet of teach programming operation steps among the present invention;
Fig. 6 for rectangular coordinate program among the present invention to joint coordinates program transformation flow synoptic diagram;
Fig. 7 for joint coordinates program among the present invention to rectangular coordinate program transformation flow synoptic diagram;
Fig. 8 is the interface synoptic diagram of kinematic parameter among the present invention.
Embodiment
Below with reference to accompanying drawing, the specific embodiment of the present invention and embodiment are described in detail.
A kind of opened obot control method and system thereof of the present invention based on table prgraming, main core point is, by in form, filling in the programming mode of data, substituted complicated time-consuming special purpose robot's Programming with Pascal Language process, simplify ROBOT CONTROL and programming greatly, and improved the performance of manipulating of robot; Be well known to those skilled in the art as for technology such as teaching machine, open robot, industrial control equipment, Eulerian angle, joint, tracks, do not repeat them here.
A kind of opened obot control method of the present invention based on table prgraming, what adopt is open control system, write ROBOT CONTROL system and control interface by the VC6.0 development language, and as a kind of open robot's control system based on table prgraming of the present invention, wherein a kind of concrete embodiment, comprise a robot, an industrial control equipment and a multi-purpose computer, described multi-purpose computer signal connects described industrial control equipment, the described robot of described industrial control equipment control linkage; It is characterized in that, in the control interface of described multi-purpose computer, be provided with table procedure, be used to describe the athletic posture of the robot that obtains and write down its movement locus; Under the control of described industrial control equipment, the motion process of the described robot of data check by changing described table procedure; And described robot is used to read described table procedure data, the athletic performance that execution is set.Described table procedure comprises a joint coordinate system form and world's coordinate system form; And described joint coordinate system form and world coordinate system form be on the nominated bank position in the form separately, be provided with described robot respectively import the action data of output point, wherein:
Described joint coordinate system form, as shown in Figure 3, comprise X, the Y of described robot end locus, the rectangular coordinate form of Z, the absolute motion angle that also comprises X angle, Y angle, Z angle, A angle, B angle and the C angle in 6 joints of described robot, and comprise that content can self-defining Trajectories Toggle, be used to write down the state of current track and be used for the output port of record controls port numbers and be used to write down the output state record of corresponding output port action.
Described world coordinate system form as shown in Figure 4, comprises X, the Y of described robot end locus, the rectangular coordinate form of Z, also comprises the terminal attitude angle of Eulerian angle Z, Eulerian angle Y and the Eulerian angle Zn of described robot; And the orbital radius that comprises the robot curve motion, can identify by self-defining track with content, be used to identify the type of curve, as circle, circular arc or SPL etc., with the output port that is used for the record controls port numbers be used to write down the output state record of corresponding output port action.
And a kind of opened obot control method based on table prgraming of the present invention comprises following three parts generally successively:
The first step, in control interface establishment table procedure, the athletic posture of described robot is described, write down the movement locus of described robot;
Second step, the described table procedure data of conversion are checked described robot motion's process, and the kinematic parameter of described robot is set simultaneously;
The 3rd the step, according to described table procedure data, read and carry out the athletic performance of setting by described robot.
At first, in the first step in control interface establishment table procedure, in the concrete process of implementing, can segment following three kinds of programming modes again:
1, teach programming
As shown in Figure 5, in the form of described joint coordinate system, adopt following steps:
(for mouse) step S501a, press mouse;
(for keyboard) step S501b, press keyboard shortcut;
(for mouse) step S502a, mouse response code section;
(for keyboard) step S502b, keyboard shortcut response code section;
Step S503, single shaft motion response code segment;
(for mouse) step S504, judge whether to arrive assigned address, be then to enter step S505, otherwise change step S504a over to;
(for keyboard shortcut) step S504, judge whether to arrive assigned address, be then to enter step S505, otherwise change step S504b over to;
Step S505, further judge whether the executive logging function, be then to enter step S506, otherwise change step S507 over to;
Step S506, operation joint position, the code segment of record each joint motions angle this moment;
Afterwards, calculate the right angle spatial value of this desired location automatically, and record shows in the rectangular coordinate form in the joint coordinate system form;
Step S507, judge whether to set movement mark, be then to enter step S508, otherwise change step S509 over to;
Trajectories Toggle when step S508, input motion, input " 1 " during starting point, input " 2 " during terminal point, intermediate point need not be imported;
Step S509, judge whether to set I/O action, be then to enter step S510, otherwise finish input operation;
Step S510, setting I/O port-action, i.e. input needs the port numbers of control, and input control port state, opens to be " 1 ", close to be " 0 ", and the end input operation;
Afterwards, repeat the aforesaid operations step, can finish processing technology of components.
2, joint coordinates programming
When determining the movement locus in each joint, specifically can adopt following programming step:
1) correspondence position in the joint coordinate system form is filled in the absolute motion angle in each joint;
2) Trajectories Toggle input: input " 1 " during starting point, input " 2 " during terminal point, intermediate point need not be imported;
3) input needs the port numbers of control;
4) input control port state is opened and is " 1 ", closes to be " 0 ";
5) joint trajectories security self-verifying;
6) calculate the right angle volume coordinate of robot automatically;
7) repeat above-mentioned action, promptly finish the programming of robot.
3, rectangular coordinate programming
Switch to " world coordinate system " state, adopt following programming step:
(1) input X, Y, Z right angle volume coordinate;
(2) the terminal attitude angle of input;
(3) when being that bowlder needs the input motion radius for track, XYZ coordinate is a home position;
(4) " track sign " is provided with: can identify " circle ", " circular arc ", " SPL " etc.;
(5) Trajectories Toggle input: input " 1 " during starting point, input " 2 " during terminal point, intermediate point need not be imported;
(6) input needs the port numbers of control;
(7) input control port state is opened and is " 1 ", closes to be " 0 ";
(8) set point track security self-verifying;
(9) repeat aforesaid operations, can finish the processing technology programming.
Secondly, the process at the described table procedure data of conversion in second step specifically comprises the process of rectangular coordinate to the joint coordinates conversion, as shown in Figure 6; And joint coordinates is to the process of rectangular coordinate conversion, as shown in Figure 7; In fact, rectangular coordinate is two kinds of different expression forms of robot trajectory with joint coordinates, the robotary that rectangular coordinate and pose are represented is directly perceived, be convenient to the track inspection, and joint coordinates can be determined each operation angle of robot, the data of two groups of forms are changed mutually, are convenient to the inspection of technology and the judgement of each Spindle Status of robot.
Shown in accompanying drawing 6 and 7, the concrete steps of its table procedure data-switching comprise:
Step S601 (or S701), the former coordinate program of definition are changed to new coordinate program;
Step S602 (or S702), the new coordinate program form of generation;
Step S603 (or S703), read the line data of former coordinate program, as the first line data code;
Step S604 (or S704), read machine people's movement locus safety is judged code;
Step S605 (or S705), and the movement locus of judging described robot safety whether are then to enter step S606 (or S706), otherwise change step S610 (or S710) over to;
Step S606 (or S706), by the new mutually coordinate program translation data code of former coordinate program;
Step S607 (or S707), transformation result or track are write new coordinate program;
Whether step S608 (or S708), determining program data-switching finish, and are then to enter step S612 (or S712), otherwise change step S608 (or S708) over to;
Step S608 (or S708), the current line number in the former coordinate program is added 1, enter step S603 (or S703), the data code of last column in being transformed into described former coordinate program;
Step S610 (or S710), stop track conversion, give the track tabulation row that makes mistake prompting;
Step S611 (or S711), according to the prompting of misdata row, the track of deletion error tabulation line data in described new coordinate program, and finish the operation of conversion;
Step S612 (or S712), with described new coordinate program display data, and finish the operation of conversion.
In accompanying drawing 6, in brief, be that the rectangular coordinate in the world coordinate system is converted to joint coordinates; After the rectangular coordinate in the given world coordinate system surpasses the robot movement scope, stop the track conversion automatically, and give the track tabulation row prompting that makes mistake.The data that generate write in the newly-generated joint coordinates form automatically.
In accompanying drawing 7, in brief, be that joint coordinates is converted to rectangular coordinate, so that the technology audit.The data that generate write in the newly-generated rectangular coordinate form automatically, when the track mistake occurring, point out the data line of makeing mistakes in the joint coordinates automatically.
In addition, after finishing table prgraming, also kinematic parameter to be set in the kinematic parameter table: as shown in Figure 8, comprise: go back to mode parameter region 810, the limited number of time operational factor zone 820 and 830 of starting point, specifically the parameter that can be provided with comprises: single cycle time delay, returned action after point mode, number of run, the end, paw time-delay etc.
At last, at the 3rd step, described robot reads the table procedure data and carries out the athletic performance of setting, and the difference of program implementation Yin Biaoge comprises three kinds of modes:
1, joint coordinate system forms mode
Described robot sets kinematic parameter since the data of first row, and adopts the mode of carrying out line by line:
1) reads each joint angles value, Trajectories Toggle, output terminal slogan, output state;
2) carry out 6 moving interpolations according to Trajectories Toggle and joint angles;
3) according to output terminal slogan, the action of output state control related port;
4) read the next line data, repeat aforesaid operations.
2, the compile mode of world coordinate system form
Set kinematic parameter, program is according to rectangular space coordinate value XYZ and Eulerian angle ZYZn, and world coordinates is compiled into the movement locus of joint coordinates, carries out relevant action by the running order in the form of above-mentioned joint then.
3, the interpretative system of world coordinate system form
Described robot sets kinematic parameter since the data of first row, and adopts the mode of carrying out line by line:
(1) reads rectangular space coordinate value XYZ, Eulerian angle ZYZn, track sign, Trajectories Toggle, output terminal slogan, output state;
(2) rectangular coordinate is translated into joint coordinates;
(3) carry out 6 moving interpolations according to Trajectories Toggle and joint angles;
(4) according to output terminal slogan, the action of output state control related port;
(5) read the next line data, repeat aforesaid operations.
In a word, fill in the joint of robot data in the joint coordinate system form, robot moves each line data one by one according to the data in the form.Fill in robot end's coordinate and attitude in right angle space coordinates form, robot generates the movement angle in each joint automatically when moving.Two kinds of forms all can be in each the I/O point action of nominated bank's set positions.After the selected delegation input data, the may command robot moves to select row automatically, with the correctness of checking joint coordinates input.Simultaneously, robot is carried out teaching, in the joint trajectories record sheet, the operator makes amendment to each joint data of the robot in the form, to obtain desirable program with the joint data recording that obtains.
This shows, adopt the form operation not need to use special programming language, directly in form, fill in numeral and can finish robotic programming, can reduce the complicacy of robot manipulation and programming, shorten the robotic programming time, reduce the technical threshold that robot uses.The teaching of joint coordinate system form shows teaching joint trajectories point in real time, can revise synchronously; Adopt directly perceived and general form programming, directly carry out filling in of digital form, simple, intuitive; The motion of robot is freely set by kinematic parameter; The joint teaching, the rectangular coordinate programming, the joint coordinates programming, three kinds of programming modes can be used in combination as required and increase flexibility of programming.
In the above preferred embodiment, can adopt existing various possible schemes according to practical application, be well known to those skilled in the art, also repeat no more at this based on the open robot's of table prgraming the control and the technology of operation.
The specific embodiment of the present invention described a kind of opened obot control method and system thereof based on table prgraming, owing to adopted the means of table procedure, and the data converting function by table procedure, finish inspection to robot motion's track; Simultaneously in programming, added kinematic parameter, on basis, realized open robot's operation control based on table prgraming; And, substituted complicated time-consuming special purpose robot's Programming with Pascal Language process by in form, filling in the programming mode of data, and directly simplified open robot's control and programming, significantly improved open robot's the performance of manipulating.
Should be understood that; for those of ordinary skills; can be improved according to the above description or conversion; for example according to any key element in environment increase and decrease world coordinate system or the joint coordinate system; and in a disguised form on some complicated electromechanical controlling devices, implement etc., and all these improvement and conversion all should belong to the protection domain of claims of the present invention.
Claims (8)
1. opened obot control method based on table prgraming may further comprise the steps:
A, in control interface establishment table procedure, the athletic posture of described robot is described, write down the movement locus of described robot;
B, the described table procedure data of conversion are checked described robot motion's process, and the kinematic parameter of described robot is set simultaneously;
C, according to described table procedure data, read and carry out the athletic performance of setting by described robot;
Wherein, read and carry out in the athletic performance process of setting, adopt the interpretative system operation of world's coordinate system form, set kinematic parameter, and, carry out following steps from first line data of described world coordinate system form at described step C:
C31, read rectangular space coordinate value, Eulerian angle, track sign, Trajectories Toggle, output terminal slogan and output state thereof;
C32, described rectangular space coordinate is translated into joint coordinates, and carry out 6 moving interpolation according to described Eulerian angle and Trajectories Toggle;
C33, according to described output terminal slogan and output state thereof, control the corresponding port action;
C34, read the next line data of described world coordinate system form, repeat above-mentioned steps, until the data that read last column and execute above-mentioned operation.
2. opened obot control method according to claim 1 is characterized in that, the process of establishment table procedure is the operation of a teach programming in the described steps A, is included in the operation of finishing described teach programming after the repetition following steps:
Each moves to desired location A11, the described robot of manual adjustment, and notes each joint motions angle of described robot of this moment;
A12, calculate the right angle spatial value of this desired location automatically, and record shows in the rectangular coordinate form in the joint coordinate system form;
The beginning or end of A13, input trajectory mark, and the port numbers and the state of a control of input control.
3. opened obot control method according to claim 1 is characterized in that, the process of establishment table procedure is the operation of joint coordinates programming in the described steps A, is included in the operation of finishing described joint coordinates programming after the repetition following steps:
A21, the correspondence position in the joint coordinate system form are filled in the absolute motion angle in each joint of described robot;
The beginning or end of A22, input trajectory mark, and the port numbers and the state of a control of input control;
The track security of A23, the described joint of robot of self-verifying, and the right angle spatial value that calculates described robot automatically.
4. opened obot control method according to claim 1 is characterized in that, the process of establishment table procedure is the operation of rectangular coordinate programming in the described steps A, is included in the operation of finishing described rectangular coordinate programming after the repetition following steps:
A31, the correspondence position in the world coordinate system form are filled in the right angle volume coordinate and the terminal attitude angle of described robot;
A32, when movement locus is a bowlder input motion radius, and the right angle volume coordinate of setting input is a home position;
A33, track sign kind is set, the beginning or end of input trajectory mark, and the port numbers and the state of a control of input control;
The track security of the set point of A34, the described robot of self-verifying.
5. opened obot control method according to claim 1, it is characterized in that, the process of the described table procedure data of conversion among the described step B, the operation for changing mutually between rectangular coordinate program and joint coordinates program comprises following step:
B11, generate a new coordinate program form, and read the first line data code in the former coordinate program;
B12, the movement locus safety whether of judging described robot are then to enter step B13, otherwise enter step B15;
The data code of B13, the described former coordinate program of conversion, and write into described new coordinate program;
B14, read the next line data in the described former coordinate program, change step B12 over to, data code of the last row in being transformed into described former coordinate program, and enter step B16 after writing described new coordinate program finishing;
B15, stop track conversion, give the track tabulation row that makes mistake prompting, enter step B17;
B16, with described new coordinate program display data, and finish the operation of conversion;
B17, according to the prompting of misdata row, the track of deletion error tabulation line data in described new coordinate program, and finish the operation of conversion.
6. opened obot control method according to claim 1, it is characterized in that, read and carry out the athletic performance process of setting among the described step C, adopt the operation of a joint coordinate system form, set kinematic parameter, and, carry out following steps from first line data of described joint coordinate system form:
C11, read each joint angles value, Trajectories Toggle, output terminal slogan and the output state thereof of described robot;
C12, carry out 6 moving interpolation according to described joint angles value and Trajectories Toggle;
C13, according to described output terminal slogan and output state thereof, control the corresponding port action;
C14, read the next line data of described joint coordinate system form, and repeat above-mentioned steps, until the data that read last column and execute above-mentioned operation.
7. opened obot control method according to claim 1 is characterized in that, described step C reads and carry out the athletic performance process of setting, adopts the compile mode operation of world's coordinate system form, comprises the steps:
C21, setting kinematic parameter;
C22, world coordinates is compiled into the movement locus of described joint of robot coordinate, and record shows in a joint coordinate system form;
C23, according to the running order in the described joint coordinate system form, carry out corresponding athletic performance by described robot.
8. the open robot's control system based on table prgraming comprises a robot, an industrial control equipment and a multi-purpose computer, and described multi-purpose computer signal connects described industrial control equipment, the described robot of described industrial control equipment control linkage; It is characterized in that, in the control interface of described multi-purpose computer, be provided with table procedure, be used to describe the athletic posture of the robot that obtains and write down its movement locus; Under the control of described industrial control equipment, the motion process of the described robot of data check by changing described table procedure; And described robot is used to read described table procedure data, the athletic performance that execution is set; Described table procedure comprises a joint coordinate system form and world's coordinate system form; And described joint coordinate system form and world coordinate system form be on the nominated bank position in the form separately, be provided with described robot respectively import the action data of output point, wherein:
Described joint coordinate system form comprises, the end spaces rectangular coordinate of the X of described robot, Y, Z, and the absolute motion angle that comprises X angle, Y angle, Z angle, A angle, B angle and the C angle of described joint of robot;
Described world coordinate system form comprises, the rectangular space coordinate of the X of described robot, Y, Z, and the terminal attitude angle that comprises Eulerian angle Z, Eulerian angle Y and the Eulerian angle Zn of described robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101067991A CN101551654B (en) | 2009-04-29 | 2009-04-29 | Opened robot control method based on table programming and its system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101067991A CN101551654B (en) | 2009-04-29 | 2009-04-29 | Opened robot control method based on table programming and its system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101551654A CN101551654A (en) | 2009-10-07 |
| CN101551654B true CN101551654B (en) | 2011-01-26 |
Family
ID=41155928
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101067991A Expired - Fee Related CN101551654B (en) | 2009-04-29 | 2009-04-29 | Opened robot control method based on table programming and its system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101551654B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104908039A (en) * | 2015-05-11 | 2015-09-16 | 东莞市金鸿自动化科技有限公司 | User usage pattern programming method for four-shaft horizontal manipulator |
| FR3038245B1 (en) * | 2015-06-30 | 2017-12-29 | Staubli Sa Ets | METHOD FOR CONTROLLING AN AUTOMATED WORKING CELL |
| CN107688313A (en) * | 2017-09-27 | 2018-02-13 | 上海焕巍智能科技有限公司 | A kind of opened industrial robot controller |
| JP7069971B2 (en) * | 2018-03-30 | 2022-05-18 | セイコーエプソン株式会社 | Controls, robots, and robot systems |
| CN109522009A (en) * | 2018-11-14 | 2019-03-26 | 无锡信捷电气股份有限公司 | The write method of truss loading and unloading robot control program |
| CN110632878B (en) * | 2019-10-08 | 2022-06-28 | 上海宝阶智能科技有限公司 | Method and device for heterogeneous embedded tabular processing and action flow execution |
| CN111722590A (en) * | 2020-06-30 | 2020-09-29 | 深圳钰翔技术有限公司 | Simple programming method of feeder for stamping metal plates or hardware |
| CN112372632A (en) * | 2020-10-12 | 2021-02-19 | 达闼机器人有限公司 | Mechanical arm motion control method and device and computer readable storage medium |
| CN112233498B (en) * | 2020-10-14 | 2023-01-06 | 烟台鼎钰电子科技有限公司 | Tabular programmable display controller |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0930554A1 (en) * | 1997-07-03 | 1999-07-21 | Fanuc Ltd | Method of conversion of robot teaching program |
| CN1825236A (en) * | 2005-02-25 | 2006-08-30 | 发那科株式会社 | Conversational numerical control apparatus |
-
2009
- 2009-04-29 CN CN2009101067991A patent/CN101551654B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0930554A1 (en) * | 1997-07-03 | 1999-07-21 | Fanuc Ltd | Method of conversion of robot teaching program |
| CN1825236A (en) * | 2005-02-25 | 2006-08-30 | 发那科株式会社 | Conversational numerical control apparatus |
Non-Patent Citations (3)
| Title |
|---|
| JP昭61-25210A 1986.02.04 |
| JP特开平11-156774A 1999.06.15 |
| 白培基.基于运动控制卡的喷涂机控制系统设计.《伺服控制 》.2007,(第3期),46、50、51. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101551654A (en) | 2009-10-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101551654B (en) | Opened robot control method based on table programming and its system | |
| US9483043B2 (en) | Method and system for programmable numerical control | |
| CN102004485A (en) | Off-line robot teaching method | |
| CN105291107B (en) | The document generating method of simulator robot and simulator robot | |
| US8606391B2 (en) | Virtual machine tool for representing actions of machining units and generating operating data from user input | |
| CN102119072B (en) | A method and a system for facilitating calibration of an off-line programmed robot cell | |
| CN103970087B (en) | Operation program generating apparatus | |
| CN111381815B (en) | Offline programming post code conversion method and dual-robot cooperative intelligent manufacturing system and method based on same | |
| US20180333846A1 (en) | Machine tool control device and production system | |
| US20090326892A1 (en) | System and method for constructing virtual nc controllers for machine tool simulation | |
| CN207373189U (en) | A kind of industrial robot teaching device | |
| CN102166752A (en) | Man-machine interaction method for welding robot and implementing method | |
| CN110271009B (en) | Method for realizing manipulator teaching function based on PLC robot-simulated instruction | |
| CN104875204A (en) | Offline programming module and application method of plasma space cutting robot | |
| CN107908191A (en) | The kinetic control system and method for a kind of series-parallel robot | |
| JP2017213644A (en) | Teaching device, teaching system, robot system, teaching method, method for manufacturing product, program and recording medium | |
| CN110737244A (en) | Numerical controller and data editing method | |
| JP2019057262A (en) | Control device and data structure | |
| CN113836702A (en) | Robot teaching programming method and robot teaching programming device | |
| JP5291727B2 (en) | Program conversion module and program conversion method for multi-axis synchronous machine | |
| Rea Minango et al. | Combining the STEP-NC standard and forward and inverse kinematics methods for generating manufacturing tool paths for serial and hybrid robots | |
| CN109877828A (en) | Machine point adjustment method, device, computer equipment and storage medium | |
| JP2011238041A (en) | Programming apparatus and programming method | |
| CN115933538A (en) | Equipment control method and system | |
| JPH0944219A (en) | Robot simulator device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Shenzhen Guanghong Numerical Control Equipment Co.,Ltd. Assignor: Shenzhen Adtech CNC Technology Co., Ltd. Contract record no.: 2011440020263 Denomination of invention: Opened obot control method based on table prgraming and its system Granted publication date: 20110126 License type: Common License Open date: 20091007 Record date: 20110629 |
|
| C56 | Change in the name or address of the patentee |
Owner name: ADTECH (SHENZHEN) TECHNOLOGY CO., LTD. Free format text: FORMER NAME: SHENZHEN ADTECH CNC TECHNOLOGY CO., LTD. |
|
| CP03 | Change of name, title or address |
Address after: 518052 Shenzhen City, Nanshan District Yi Yuan Lu Ma Liuzhou Tian Xia Industrial Park Building 5 Patentee after: Adtech (Shenzhen) Technology Co., Ltd. Address before: Nanshan District Ma Jia Long Industrial District of Shenzhen City, Guangdong province 518054 36 5 floor Patentee before: Shenzhen Adtech CNC Technology Co., Ltd. |
|
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: Shenzhen Guanghong Numerical Control Equipment Co.,Ltd. Assignor: Shenzhen Adtech CNC Technology Co., Ltd. Contract record no.: 2011440020263 Date of cancellation: 20120305 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110126 Termination date: 20190429 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |