CN101713965A - Method for compiling robot control program - Google Patents
Method for compiling robot control program Download PDFInfo
- Publication number
- CN101713965A CN101713965A CN200910194001A CN200910194001A CN101713965A CN 101713965 A CN101713965 A CN 101713965A CN 200910194001 A CN200910194001 A CN 200910194001A CN 200910194001 A CN200910194001 A CN 200910194001A CN 101713965 A CN101713965 A CN 101713965A
- Authority
- CN
- China
- Prior art keywords
- robot
- program
- joint
- compiling
- control system
- 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.)
- Pending
Links
Abstract
The invention relates to a method for compiling a robot control program, which comprises the following steps of: (a) moving joints of a robot according to preset paths and positions and the requirement for the actions of the robot, detecting the positions of the joints and the action process by using each joint inductor, and transmitting digital information into a 3D simulation system through a servo-control system and a robot control system to enable a virtual robot to synchronously act; and (b) composing the actions of each joint of the virtual robot into a set of motion processes by the 3D simulation system according to the sequencing, converting the action process data into data information, and forming program codes to be stored in a computer, thereby finishing the compiling process of the robot control program. The invention cancels the logics of branch circulation, judgment and the like in the traditional program, reduces the complexity of the program, enables the program to be more visual, has the advantages of simple program compiling, high program design efficiency and the like, realizes simple interaction capacity between the robot and the outside, improves simplification of the program design, and provides a feasible program design method for popularization of robots.
Description
Technical field
The present invention relates to a kind of Compilation Method of program, specifically a kind of robot control program's Compilation Method.
Background technology
In the existing robots program design, the program design of LEGO robot and the Robotics Studio of Microsoft are typically arranged, adopt the GRAPHICAL 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.
Find in existing other robot program's designing technique, the programming of existing visual 3D figure control, code that also need not any this paper form, more with the comic stripies procedure for displaying, program readable strong is convenient to developer's learning program.
This above type robot motion's program design on intuitive and operability and the organizational form of program improved necessity is still arranged, and need the user to possess certain robot program's design knowledge and have stronger 3d space sense could finish programming easily, this problem also causes robot still to have certain degree of difficulty in the process of popularizing.Therefore be necessary to invent a kind of employing very intuitively mode of operation control the robot program's Compilation Method that combines with 3D figure.
Summary of the invention
The objective of the invention is to overcome the above problems, propose a kind of directly perceived, method for compiling robot control program that compiling is easy.
For solving the problems of the technologies described above, by the following technical solutions:
A kind of method for compiling robot control program, the program that is used for the way of compiling control robot motion, comprise inductor that is arranged at each joint position of robot and the joint motor that drives joint motion, the joint motor is by the control of the servo-control system in the robot, servo-control system is by the control of the robot control system in the robot, robot control system and the 3D analogue system data transmission that is arranged in the outside programmed computer, in the 3D analogue system, be provided with the virtual machine human model, the robot motion of this virtual machine human model and control to be programmed is synchronous, and described program compiling method is:
A. according to the robot motion needs, according to default path and position mobile apparatus person joint, each joint inductor detects joint position and course of action, and numerical information transfers in the 3D analogue system by servo-control system, robot control system, the virtual robot synchronization action;
B.3D analogue system is formed a cover motion flow process with each joint action of virtual robot according to sequencing, and the course of action data are converted to data message, forms program code and is stored in the computing machine, finishes robot control program's compiling.
In the time of need making amendment to program, can realize by servo-control system by adjusting joint of robot.
The present invention is by operation real machine person joint, treatment conversion through servo-control system, robot control system and 3D fasystem is a program code, logics such as branch circulation in the program in the past, judgement have been cancelled, reduced the complicacy of program, make calling program more directly perceived, it is simple to have program composition simultaneously, the programming efficiency advantages of higher, and realize robot and extraneous simple interaction capabilities with this.The raising program design simplification that the present invention is showing, and provide a kind of practicable Programming Methodology for robot universal.
Description of drawings
Fig. 1 is an embodiment of the invention principle schematic.
Embodiment
For the ease of those skilled in the art's understanding, structural principle of the present invention is described in further detail below in conjunction with specific embodiment and accompanying drawing:
The method for compiling robot control program that the present embodiment scheme discloses is used for the program of way of compiling control robot motion, based on robot kinematics's theory, closed-loop control technology operation real machine person joint motor in the utilization servo-control system theory, continue feedback position information to the 3D analogue system by joint of robot, form bare metal people working procedure by the 3D analogue system.
This system comprises inductor 5 and the torque sensor 7 that detects joint torsion that is arranged at each joint position of robot, the joint motor 6 that drives joint motion, joint motor 6 is by 4 controls of the servo-control system in the robot, servo-control system 4 is by 3 controls of the robot control system in the robot, robot control system 3 and 3D analogue system 2 data transmission that are arranged in the outside programmed computer 9, be provided with the virtual machine human model in 3D analogue system 2, this virtual machine human model can be synchronous with the robot motion of control to be programmed.Wherein, this program compiling method is:
A. according to the robot motion needs, according to default path and position mobile apparatus person joint, each joint inductor detects joint position and course of action, and numerical information transfers in the 3D analogue system by servo-control system, robot control system, the virtual robot synchronization action;
B.3D analogue system is formed a cover motion flow process with each joint action of virtual robot according to sequencing, and the course of action data are converted to data message, forms program code and is stored in the computing machine, finishes robot control program's compiling.
When needing to revise robot motion, only need to adjust joint of robot, both can realize by the said method step.
During program compilation, compile by user interface on the outside programmed computer 91 and the input/output interface 8 that is connected on the robot control system 3, operation is very easy.
In the present embodiment, to those skilled in the art, servo-control system 4, robot control system 3 and 3D analogue system 2 be conventional, than proven technique, each inductor that is adopted also can get by commercially available, does not repeat them here.
More than for the preferable implementation of the present invention, in addition also have other implementations, need to prove that replacement in any obvious suggestion under the prerequisite that does not break away from inventive concept of the present invention is all within protection domain of the present invention.
Claims (2)
1. method for compiling robot control program, the program that is used for the way of compiling control robot motion, comprise inductor that is arranged at each joint position of robot and the joint motor that drives joint motion, the joint motor is by the control of the servo-control system in the robot, servo-control system is by the control of the robot control system in the robot, it is characterized in that, robot control system and the 3D analogue system data transmission that is arranged in the outside programmed computer, in the 3D analogue system, be provided with the virtual machine human model, the robot motion of this virtual machine human model and control to be programmed is synchronous, and described program compiling method is:
A. according to the robot motion needs, according to default path and position mobile apparatus person joint, each joint inductor detects joint position and course of action, and numerical information transfers in the 3D analogue system by servo-control system, robot control system, the virtual robot synchronization action;
B.3D analogue system is formed a cover motion flow process with each joint action of virtual robot according to sequencing, and the course of action data are converted to data message, forms program code and is stored in the computing machine, finishes robot control program's compiling.
2. method for compiling robot control program according to claim 1 is characterized in that: adjust joint of robot, by the modification of servo-control system realization to program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910194001A CN101713965A (en) | 2009-11-18 | 2009-11-18 | Method for compiling robot control program |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910194001A CN101713965A (en) | 2009-11-18 | 2009-11-18 | Method for compiling robot control program |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101713965A true CN101713965A (en) | 2010-05-26 |
Family
ID=42417672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910194001A Pending CN101713965A (en) | 2009-11-18 | 2009-11-18 | Method for compiling robot control program |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101713965A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103085071A (en) * | 2013-02-04 | 2013-05-08 | 惠州市东扬科技有限公司 | Visualized robot program compiling method |
| CN105425728A (en) * | 2015-12-17 | 2016-03-23 | 沈阳理工大学 | Multi-axis motion serial control teaching programming method |
| CN105690394A (en) * | 2016-04-21 | 2016-06-22 | 奇弩（北京）科技有限公司 | Robot action generating method |
| CN105700481A (en) * | 2016-03-23 | 2016-06-22 | 北京光年无限科技有限公司 | Intelligent robot motion generation method and system |
| CN108656106A (en) * | 2017-03-31 | 2018-10-16 | 宁波Gqy视讯股份有限公司 | The design method of robot limb action |
| CN111061465A (en) * | 2019-11-22 | 2020-04-24 | 上海乐白机器人有限公司 | Reverse mapping method and system for robot programming, electronic device and storage medium |
| CN112233208A (en) * | 2019-06-28 | 2021-01-15 | 百度在线网络技术（北京）有限公司 | Robot state processing method and device, computing equipment and storage medium |
-
2009
- 2009-11-18 CN CN200910194001A patent/CN101713965A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103085071A (en) * | 2013-02-04 | 2013-05-08 | 惠州市东扬科技有限公司 | Visualized robot program compiling method |
| CN105425728A (en) * | 2015-12-17 | 2016-03-23 | 沈阳理工大学 | Multi-axis motion serial control teaching programming method |
| CN105700481A (en) * | 2016-03-23 | 2016-06-22 | 北京光年无限科技有限公司 | Intelligent robot motion generation method and system |
| CN105690394A (en) * | 2016-04-21 | 2016-06-22 | 奇弩（北京）科技有限公司 | Robot action generating method |
| CN108656106A (en) * | 2017-03-31 | 2018-10-16 | 宁波Gqy视讯股份有限公司 | The design method of robot limb action |
| CN112233208A (en) * | 2019-06-28 | 2021-01-15 | 百度在线网络技术（北京）有限公司 | Robot state processing method and device, computing equipment and storage medium |
| CN112233208B (en) * | 2019-06-28 | 2023-07-25 | 百度在线网络技术（北京）有限公司 | Robot state processing method, apparatus, computing device and storage medium |
| CN111061465A (en) * | 2019-11-22 | 2020-04-24 | 上海乐白机器人有限公司 | Reverse mapping method and system for robot programming, electronic device and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101713965A (en) | Method for compiling robot control program | |
| Liu et al. | Human-robot collaboration in disassembly for sustainable manufacturing | |
| Wang et al. | Facilitating human–robot collaborative tasks by teaching-learning-collaboration from human demonstrations | |
| CN104298175B (en) | A kind of digital control system based on Intel Virtualization Technology and method | |
| CN101533263B (en) | Computer programmable autocontrol system and control method thereof | |
| CN105945942A (en) | Robot off line programming system and method | |
| JP2008532166A5 (en) | ||
| CN102999322A (en) | Software interface design method of industrial controller | |
| CN102681856A (en) | System and method used for achieving human-computer interface of robot and based on demonstrator | |
| CN108268255A (en) | For programming the method and apparatus of robot | |
| CN102012673A (en) | Design method of complex reaction type system controller | |
| CN102902664A (en) | Artificial intelligence natural language operation system on intelligent terminal | |
| CN101570020A (en) | Method and device for programming robot motion sequence | |
| CN108527320A (en) | A kind of cooperation robot guiding teaching method based on 3D mouse | |
| CN104858852A (en) | Optimization and constraint method of humanoid robot for real-time imitating human upper limb movement | |
| CN105892302A (en) | Intelligent robot-oriented smart home control method and intelligent robot-oriented smart home control system | |
| JP2020049569A (en) | Support device for creating program of robot | |
| CN202021609U (en) | Device for realizing MDOF (multiple degrees of freedom) force feedback of fingers | |
| Krings et al. | Design and evaluation of ar-assisted end-user robot path planning strategies | |
| JP2012099082A (en) | Program conversion module and program conversion method for multiaxial synchronous operation machine | |
| CN109213306A (en) | A kind of robot remote control platform and its design method | |
| CN103552072B (en) | A kind of robot control method based on embedded controller and device | |
| CN103486694B (en) | Universal air conditioner remote controller | |
| Laudante et al. | Design and Digital Manufacturing: an ergonomic approach for Industry 4.0 | |
| CN100361074C (en) | Visualized three-dimensional graphic control programming method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20100526 |