CN101791801A - Industrial robot motion planning and performance testing system and implementation method thereof - Google Patents
Industrial robot motion planning and performance testing system and implementation method thereof Download PDFInfo
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Abstract
The invention relates to an industrial robot motion planning and performance testing system and an implementation method thereof. The system comprises a database module, a man-machine interaction module, a spray gun track planning module, an analysis and display module, a robot job instruction generation module and a communication and interface module, wherein the database module realizes storage of the spray gun track and the joint variable of the spraying robot as well as the spraying tasks; the man-machine interaction module realizes parameter input and control on other modules; the spray gun track planning module is used for planning a spray gun track for optimizing the spraying effect and working out the joint variable corresponding to the track on the premise of meeting all the limits; the analysis and display module simulates and analyzes the spraying process of the spraying robot; the robot job instruction generation module realizes the function of generating spraying robot job files; and the communication and interface module is used for importing spraying task data, and uploading and downloading job files. The invention has the advantages of high programming speed, high accuracy, complete functions and strong versatility, and can be used for scientific research in various types of robots and control on the actual spraying operating system.
Description
Technical field
The present invention is a kind of industrial robot motion planning and Performance Test System and its implementation, particularly a kind of spray robot motion planning and Performance Test System and its implementation belong to the innovative technology of industrial robot motion planning and Performance Test System and its implementation.
Background technology
In recent years, spray robot since the spraying cycle short, the precision height, profitable, characteristics such as can work long hours under rugged environment are applied in increasing spraying occasion.But up to the present, go back comprehensive spray robot motion planning of neither one and Performance Test System and occur, traditional motion planning and Performance Test System generally adopt teach programming, and be not only loaded down with trivial details, toward contact the teaching of sample ability need be arranged earlier.Existing industrial robot motion planning and Performance Test System general utility functions are single, do not possess the performance evaluation system of synthesization, especially in the spray robot application, lack special system platform especially.Therefore, develop a kind ofly, make that the spray robot off-line programing system of spraying effect optimum is extremely urgent based on computer graphics.
Along with the development of computer graphics, the model of setting up actual object and surrounding environment becomes very convenient.The object of spraying operation generally is the scope of freedom, utilize computer graphics that the moulding on this surface is had several different methods: Bezier method, Coon/Ferguson method, B batten method, NUB (uniform B-Spline) method, NURB (non-uniform rational B-spline) method and any combination between them.These methods respectively have the advantage of oneself, and the Bezier method is to approach, to utilize control polygon or control multiaspect shape to generate curve or curved surface, to make that the design of curve and curved surface is easier.Coons (Kong Si) curved surface adopts the sectional curve amalgamation to come the complex structure curve, and employing can be that four edges circle of any type parameter curve comes constructing curve, and the method woods proposes to determine this patch border of bicubic mix aperture method of tangent vector transboundary.B batten method is local propagated and the shape controllability outstanding because of it, so use extensive.The method of acquisition actual object model has multiple, except by the direct moulding of computer graphics, can also read the data of other CAD systems by interface, perhaps obtains model data by scanning material object.
No matter trajectory planning is in theory research, still in the engineering application facet, all more and more ripe.Geometrical model based on the spraying object, set up film thickness growth model and the cost functional of estimating spraying effect in the spraying process, under the prerequisite that satisfies the constraint of robot kinematics and dynamics, ask for the extreme value of cost functional, plan spray gun path, direction and the speed of the spraying effect the best of sening as an envoy to.Existing interpolation method has multiple, as linear interpolation, and Lagrange's interpolation, piecewise interpolation, three rank B spline interpolations etc., and ripe algorithm is all arranged, this carries out interpolation for joint variable provides convenience.
In big system, owing to will call and generate lot of data, how these data are effectively managed and stored, become distinct issues.The generation of database is for a kind of good method that provides is provided, by system is set up special-purpose database, not only conveniently read and store data, improve the operational efficiency of system, and made things convenient for the management and the transplanting of system data, strengthened the versatility of system.Existing Database Systems are many and ripe, the Chang Yong DB2 that IBM is arranged wherein, Oracle, Informix, Sybase, SQL Server and Access etc.
(application number: proposed a kind of processing program generating device 200510088687.X), have offline programming device, the main composition such as vision sensor, robot controller and communicator etc. to the Chinese invention patent of Japan Fa Na Co., Ltd. application.It in offline programming device the summit of formulating the workpiece shape, the crest line end points generates machining path as taught point, thereby generates procedure, and the position and attitude of the practical work piece that obtains by vision sensor revises program, and this method does not break away from teach programming in essence.The industrial robot off-line programing system of Shanghai Communications University's application (application number: 200710043744.1) mainly contain text editing and code conversion module, graphical verification module, communication and remote control module.The function that is realized mainly is the conversion of the INFORMII code operation program used to the MOTOMAN robot by the G code numerical control program, generates MOTAMAN robot working document, and carries out emulation and verification with 3-D graphic.This methodological function is single, and versatility is not strong, can only be applied to the robot of specific model, and lacks the Performance Evaluation and the analytical system of synthesization.
Summary of the invention
The objective of the invention is to consider the problems referred to above and a kind of degree of accuracy height, industrial robot motion planning that production efficiency is high and Performance Test System are provided.
Another object of the present invention is to provide a kind of convenient and practical industrial robot motion planning and the implementation method of Performance Test System.
Technical scheme of the present invention is: industrial robot motion planning of the present invention and Performance Test System, industrial robot motion planning and Performance Test System, it is characterized in that including the DBM of the storage and management that is used for implementation model data and information, in running with the input of required various parameters with to the human-computer interaction module of the control of other module, automatically generate the spray gun trajectory planning module of the spray gun track that makes spraying effect the best, the graphical coating situation that shows spray gun surface of the work when path planning sprays, and provide the average thickness of paint film on the surface of the work and the analysis and the display module of deviation data thereof with tabular form, be used to realize the robot manipulating task instruction generation module of the generation of robot work order, realize inside and communicating by letter and interface module that the information between the outside is transmitted, after the user sends the control instruction that imports robot or spraying task data by human-computer interaction module to communication and interface module, communication and interface module according to the instruction type of human-computer interaction module with the robot model of outside or spray task data and deposit in the corresponding subdata base in the DBM; Control information and parameters such as relative position, spray gun angular aperture such as the method for planning track that transmits according to human-computer interaction module, interpolation method, robot model and the spraying task data of transmitting according to DBM finished trajectory planning again; When human-computer interaction module to analyzing when sending the control instruction that begins to spray with display module, analyze with display module and the joint variable that obtains in the spray gun trajectory planning module can be called in, from DBM, read in robot model and spraying task data simultaneously, from human-computer interaction module, obtain corresponding spray parameters, carry out the demonstration of spraying process; After obtaining satisfied spraying effect, human-computer interaction module will send the control instruction of storage joint variable to DBM, and the joint variable of best spraying effect correspondence is deposited in the DBM; Human-computer interaction module is after human-computer interaction module sends the order that generates the robot manipulating task instruction to robot manipulating task instruction generation module, robot manipulating task instruction generation module is transferred the joint variable in the DBM, the generation that fulfils assignment and instruct, if added new robot model, the transcode of importing by human-computer interaction module will join in the robot manipulating task instruction generation module automatically; When human-computer interaction module sends when downloading code command to communication and interface module, the robot manipulating task instruction that robot manipulating task instruction generation module generates will be delivered in the robot controller by communication and interface module and communication cable.
Above-mentioned DBM comprises spraying task data library module, the spray robot model module, the spraying profile DBM, the joint trajectories DBM, the joint moment DBM, spraying task data library module is used to deposit the cad data through object after the moulding, or the data of other CAD systems that read by interface, also can be by scanning the model data that material object obtains, the spray robot model module is used to store robot model's data that the user imports by interface, the spraying profile database module stores be at the spraying profile that satisfies spraying effect the best under the prerequisite of constraints, the joint trajectories DBM is deposited the different rotational angles constantly in each joint of robot that obtain by kinematics solution, angular speed is the joint trajectories through being generated after the different interpolation processing with angular acceleration or characteristic point, joint velocity and angular speed, joint moment DBM are realized the different storages of joint moment constantly in each joint of robot.
Above-mentioned DBM comprises the Administration menu of database, and Administration menu is realized the effective management to different objects in the database, comprises interpolation, and memory function is revised in deletion.
Above-mentioned human-computer interaction module comprises that spray parameters is provided with module, control module and program editing module.By spray parameters module is set, the user can be provided with the robot parameter, spray parameters, the method of trajectory planning and interpolation, the angular aperture of spray gun, parameters such as environmental variance, in control module, the user can pass through menu, whether control running job instruction generation module, whether the instruction code file that generates is sent in the robot controller by communication and interface module, and whether import extraneous spraying task and robot model's data, and can also check the curve of joint variable by clicking menu option, the program editing module is to aim to increase robot manipulating task Programming with Pascal Language rule and the open interface of design, the user imports new robot model by communication and interface module, can pass through the program editing interface, follow the syntax rule of the corresponding language of this robot model, add the code conversion module.
Above-mentioned spray gun trajectory planning module comprises planning of rectangular co-ordinate space tracking and the planning of joint coordinates space tracking.The foundation of the cost functional of paint thickness growth model and evaluation spraying effect in the rectangular co-ordinate space tracking planning realization spraying process, ask for the extreme value of cost functional by the minimax value-based algorithm, automatically generation can make the spray gun track of spraying effect the best, in addition, can also the spray gun trend of setting in the module be set according to spray gun, the spray gun track is carried out parameter optimization, the spray gun track that is optimized, at last obtain the joint of robot track, realize conversion from the rectangular co-ordinate space to the joint coordinates space according to the kinematics method of separating of inverting.Because some that may occur on the optimum spray gun track put the not situation in the robot working space, therefore must just can obtain satisfied spray gun track through adjustment and emulation repeatedly, the planning of joint coordinates space tracking is to finish on the basis of rectangular co-ordinate space tracking planning, at first obtain the spray gun track of optimization by the planning of rectangular co-ordinate space tracking, then, the track characteristic point of constraints is satisfied in taking-up, obtain the joint variable of characteristic point correspondence, adopt different interpolation methods that joint variable is carried out interpolation arithmetic again, by emulation and analysis, the user can select a kind of interpolation method that relatively is suitable for this spraying task.If dissatisfied to spraying effect, can get the characteristic point that some satisfy constraint more, if increase characteristic point simply still can not obtain satisfied spraying effect, then need to revise some characteristic points, till obtaining satisfied spraying effect.
Above-mentioned interpolating module comprises the cubic polynomial interpolation, crosses the cubic polynomial interpolation of path point, and five order polynomials carry out interpolation, with the linear interpolation of parabolic transition, crosses the linear interpolation with parabolic transition of path point, three rank B spline interpolations.
Above-mentioned analysis and display module comprise robot model's demonstration, the demonstration of spraying task, the demonstration of robot motion's situation and spraying effect in the spraying process, the demonstration of the curve of joint variable, the demonstration of spray time.This module is according to the data so that upper module was provided, sprayed the state of object and robot in the real-time simulation spraying process, the Changing Pattern that shows various variablees, and with the tabulation form provide the used energy of spraying process, the average thickness of paint film, deviation and mean square deviation, whether satisfy its constraints with the motion and the torque that make things convenient for each joint of customer inspection robot, whether the situation of manipulator collision workpiece takes place, off-line is observed the accessibility of spray gun end, the method time spent of comparing which kind of trajectory planning is the shortest, and consumed energy is minimum, and which kind of interpolation method is the most reasonable.Be modification spray gun parameter, path, and then the best spraying effect of acquisition provide foundation.
Above-mentioned robot manipulating task instruction generation module comprises the read module of joint data, the generation module of joint pulse, and the choosing and generation module of language conversion module, the read module of joint data is finished the task of reading the joint data from the database of joint; The generation module of joint pulse is realized by the conversion of joint data to the joint pulse value; Choose and the generation module of language conversion module finished and the choosing automatically of the robot corresponding language conversion module of model, and realize by the conversion of joint pulse to robot language, generate the necessary job instruction of robot motion, for obtaining general platform, this module has adopted open programmed method, except the language conversion module of platform provided three kinds of model commonly used robots, the user can pass through modular programming mode, adds and the robot model's corresponding programs conversion module that oneself imports at robot language Transformation Program editing area.At last, this module is according to the set robot type of user, automatically select corresponding with it language conversion module, by calling the joint trajectories that is stored in the joint trajectories database, finish the conversion of joint trajectories to the joint pulse, according to grammar request, generate the job instruction file, and it is kept in the special-purpose project file folder.
Above-mentioned communication and interface module comprise the input of model data and the output of job instruction, and information is carried out the transmission of data by the RS232 serial ports, are composed of special port drivers, by the control of Control-Menu realization to port.Pass through interface module, the user can be the robot model of other CAD software moulding, in the data importing platform that spraying task data and scanning obtain, after handling, data are stored into respectively in spray robot model database and two submodules of spraying assignment database, so that when trajectory planning and demonstration, call.After the robot manipulating task command file generates, follow the communication protocol of this model robot, send it in the robot controller by communication and interface module, realize the Long-distance Control of Control During Paint Spraying by Robot operation.
The implementation method of industrial robot motion planning of the present invention and Performance Test System is characterized in that comprising following process:
1) DBM is used for the storage and management of implementation model data and spraying information, and system is saved in them in the database after the moulding data that obtain spraying task data and robot automatically; By the spray gun trajectory planning, obtain one and can make the best and satisfied spray gun track that retrains of spraying effect, track data is deposited in database; By robot inverse kinematics and Dynamic solving, obtain joint of robot track and the joint moment corresponding with the spray gun track, deposit it in database; Simultaneously, DBM not only can be stored data, can also finish basic management function;
2) human-computer interaction module is realized the input of system's required various parameters in running and to the control of other module, the user can also add the program translation function in this module.In the process of robot simulation and analysis and trajectory planning, need the user relevant parameters to be set by man-machine interface; The code generation also needs the user to send instruction by man-machine interface with the execution of communicating by letter with transport module; When the user imports the robot of new model by communication with interface module, can add corresponding language generation program by the documents editing window of this module simultaneously, this module can also be packed the program of adding automatically, as the part of robot manipulating task instruction generation module.
3) realization of spray gun trajectory planning module makes the automatic generation of the spray gun track of spraying effect the best, at first, after the spray gun track is finished modeling, transfers by the CAD moulding data of spraying object, sets up paint thickness growth model in the spraying process.As the standard of estimating the spraying effect quality, set up cost functional with the variance of film thickness, algorithm for design is asked for the minimum of cost functional, and then obtains the space tracking of a spray gun motion; Then, according to the setting of user to spray parameters, this track is carried out suitable optimization, utilization robot kinematics principle is obtained the joint motions track of optimizing spray gun track correspondence, by analysis with emulation after, check whether this track satisfies all constraintss of paint finishing, if the point that has does not satisfy constraint, adjust corresponding tracing point, emulation and analysis again is up to obtaining satisfied result, system provides the method for another kind of planning again on the basis of above trajectory planning, promptly get and optimize the characteristic point that satisfies constraint on the spraying profile, ask for the joint variable of characteristic point correspondence, again to its interpolation, whether compare spraying effect by emulation and analysis meets the demands, if do not satisfy the spraying requirement, then increase the number of characteristic point, recomputate, emulation, as still not obtaining satisfied effect, then need suitably to revise characteristic point, meet the demands up to spraying effect;
4) analyze that will to finish with display module be the workpiece cad data that transmits according to above-mentioned each module, robot model's data, spray gun track and joint of robot track data, the various parameters of the position of spraying task and spray gun, the graphical coating situation that shows spray gun surface of the work when path planning sprays, and provide the average thickness and the deviation data thereof of paint film on the surface of the work with tabular form, the user can also observe joint angle in this process, joint velocity, the change curve of joint angle speed and joint moment, check whether it satisfies constraints, whether the situation of robot collision workpiece takes place, so that revise the spray gun parameter repeatedly, the path finally obtains satisfied spraying effect;
5) robot manipulating task instruction generation module is used to realize the generation of robot work order, read machine person joint track data from database at first, generate the joint pulse, the robot type of choosing according to human-computer interaction module, automatically find the code generation module that is complementary with this model robot, generate robot working document and preservation, if the new robot model of adding of user, this module can also be transferred the program conversion module corresponding with this robot model of new interpolation, the automatic generation of completion code file automatically;
6) communication and interface module have realized the information transmission between platform inside and the outside, read spraying object in the outside CAD modeling software database and robot model's cad data by this module, and it is imported in the self database, can also import task data and robot data that scanning obtains in the DBM into, for above-mentioned module provides the parameter foundation; This module can also import to the spraying operation file that the job instruction generation module generates in the robot controller, realizes the Long-distance Control of robot.
System of the present invention is with respect to traditional teach programming system, and program speed is fast, degree of accuracy height, and the programming be that off-line carries out, do not take the working time of robot, the production efficiency height.Traditional teach programming obtains spraying profile generally by teaching workman manual operation machine people, and system of the present invention is on the basis of spraying task model, the spraying profile that draws by computer, thereby operating efficiency and the degree of accuracy all can improve greatly.And when off-line programing, robot still can work on, and both are independent of each other, for robot has saved the valuable working time.With respect to spray robot off-line programing system in the past, the outstanding feature of system of the present invention is perfect in shape and function.It can carry out off-line programing to the robot of multiple model, generate the job file of different language, provide different method for planning track and interpolation methods again to robot with a kind of model, and performance evaluation system that can be by synthesization is to spraying effect that various interpolation method produced, energy consumes, and spray time compares.Therefore both can be used as scientific research, can be used for the control of actual spraying operation system again.Another characteristics of system of the present invention are highly versatiles, and the user not only can carry out off-line programing to the robot type that platform provided, and can also constantly add new robot type and corresponding with it language conversion module according to the needs of oneself.Therefore, the off-line programing that can be used for various model robot.The present invention is that a kind of design is ingenious, function admirable, convenient and practical industrial robot motion planning and Performance Test System and its implementation.
Description of drawings
Fig. 1 is a theory diagram of the present invention.
Fig. 2 is the schematic diagram of implementation method of the present invention.
The specific embodiment
Embodiment:
Structural representation of the present invention as shown in Figure 1, below in conjunction with accompanying drawing example of the present invention is described, present embodiment is as technical scheme with content of the present invention, realize the off-line programing of MOTOMAN robot, be an application of the present invention, provided the specific operation process of present embodiment below.
As shown in Figure 1, the involved part of present embodiment has: MOTOMAN robot (not drawing on the figure) and controller thereof, the comprehensive platform of spray robot off-line programing of the present invention, communication cable etc.
The comprehensive platform of spray robot off-line programing comprises six main functional modules in this example: DBM, and human-computer interaction module, spray gun trajectory planning module is analyzed and display module, job file generation module, communication and interface module.DBM is realized the storage of MOTOMAN robot spray gun track and joint variable and spraying task.Human-computer interaction module is realized the input of parameter and to the control of other module.Spray gun trajectory planning module is used for cooking up a spray gun track that makes spraying effect the best, and obtaining the joint variable of this track correspondence under the prerequisite that satisfies all spraying constraints.Analyze the simulation and analysis of realizing MOTOMAN Control During Paint Spraying by Robot process with display module.The job file generation module is realized MOTOMAN robot working document systematic function.Communication and interface module are used to spray the download of uploading of the importing of task data and job file.
DBM described in this example reads spraying during task data in interface CAD moulding database from the outside, can realize reading the acceptance of data, and it is deposited in the spraying assignment database.In trajectory planning, we can obtain one and satisfy the spray gun track of constraints and spraying effect the best and the joint variable of this track correspondence, and database is also realized the storage of these data and management.
Described human-computer interaction module is realized various spray parameters settings.In this example, we only need to select the type of robot, the spraying task, and the method for trajectory planning and interpolation is provided with the position in the rectangular co-ordinate space of spraying task, and other is provided with the default value that option adopts platform.
Described spray gun trajectory planning module realizes the automatic generation of the spray gun track of spraying effect the best.Setting according to man-machine interface, this example adopts the trajectory planning in joint coordinates space, at first on the basis of spraying task model, set up paint thickness growth model and the cost functional of estimating spraying effect in the spraying process, try to achieve the spray gun track of spraying effect preferably the time by the minimax value-based algorithm, choose the characteristic point of track, whether judging characteristic point is in the working space of robot, the point in working space is not chosen again, all satisfied this condition to guarantee all characteristic points.Invert by kinematics and to separate and principle of dynamics, try to achieve the joint angles of characteristic point correspondence, joint angle speed, joint angle acceleration and joint moment, the interpolation method of choosing by man-machine interface, transfer corresponding interpolation algorithm joint angles is carried out interpolation, and obtain the joint angle speed of all interpolation points, joint angle acceleration and joint moment.
The joint variable that described analysis and display module realization MOTOMAN robot try to achieve according to trajectory planning is carried out the simulation and analysis of spraying process.By emulation, we can observe the state of spraying effect and robot in the spraying process, spray the used time, the used energy of spraying process, the average thickness of paint film, deviation and mean square deviation.Click Control-Menu corresponding on the man-machine interface, can also observe the joint torque curve, joint angles curve, joint angle rate curve, joint angle accelerating curve.If parameter dissatisfied to spraying effect or that have does not satisfy constraints, then must increase or the modification characteristic point, carry out kinematics and dynamic (dynamical) calculating and emulation again, till obtaining satisfied result.Spray gun data and joint data deposit in the database the most at last.
Described job file generation module is mainly realized the generation of INFROMII code file.Because MOTOMAN robot working procedure is the INFROMII code, we at first transfer the joint data from the joint trajectories database, generation module by the joint pulse realizes by the conversion of joint data to the joint pulse value, calls MOTOMAN robot program conversion module again and the joint pulse is changed into the INFROMII code file and is stored in the file of engineering acquiescence.
Described communication and interface module realize the importing of spraying task model and the transmission of job file.When importing sprayed task data, we only needed to click the respective selection of Control-Menu, choose the file that will read in, and platform is the calling interface driver automatically, read the spraying task model data of outside and be stored in to spray in the assignment database.After generating the robot manipulating task file, click the respective selection of Control-Menu, eject and select dialog box, choose the job file that will transmit, the automatic calling communication driver of platform meeting according to the communication protocol of MOTOMAN robot, is loaded in the robot controller under the job file.
The present invention uses in this example, can carry out according to following steps:
Step 1: obtain the data of spraying object and deposit the spraying assignment database in.This platform provides the multiple method of obtaining the spraying object data.If have in the spraying assignment database by the information of spraying object, then do not need this step, otherwise, the user can control " obtaining the spraying task " menu on the human-computer interaction interface, choose will reading in of task, will from other document or configuration software CAD database, read by communication and interface module, and it is deposited in the spraying assignment database.
Step 2: the threedimensional model that obtains robot.Three kinds of robot models commonly used have been provided by the OpenGL program in the platform: MOTOMAN robot model, PUMA560 robot model, Stamford robot model.And by human-computer interaction interface, the user can be provided with the length of connecting rod of these three kinds of robots, connecting rod quality, and the connecting rod rotary inertia, the maximum rotation moment that each joint can provide, if the user is not provided with them, system can press default value automatically and handle.If the user by the configuration software construction oneself robot model, then can from configuration software CAD database, read, and it is deposited in robot model's database by controlling " obtaining the robot model " menu on the human-computer interaction interface.This example is selected the MOTOMAN robot model for use, and connecting rod and joint parameter are default value, does not therefore need to import outside platform the robot model.
Step 3: man-machine interface setting.On man-machine interface, the user can select the spraying task, robot type, the method for trajectory planning and interpolation, the robot variable is set, environmental variance, spray gun parameter, the performance indications requirement, the parameters such as position of spraying task, these parameters will be called in following steps.If the user is not provided with these parameters, system will adopt default value to carry out simulation and analysis automatically.In this example, a type to robot, the spraying task, the method for trajectory planning and interpolation, the position in the rectangular co-ordinate space of spraying task is provided with, and other parameter adopts default value.
Step 4: add language coversion program.If in the step 2, imported new robot model, then the program on man-machine interface is added the district, the user can add corresponding language generation module, and platform is packed the language generation module according to programming rule, add in the work order generation module, so that when generating code, call.In this example, this step does not relate to.
Step 5: the 3-d modelling of robot and working environment.By the setting of man-machine interface to spraying task and robot type, display module is transferred corresponding task module and robot module's data automatically from database, position and other parameter of the spraying task that is provided with according to man-machine interface, finish the modeling of spray gun, show on man-machine interface that with suitable size wherein the position of robot is a default value.The spraying object's position be provided with must satisfy the point that all are sprayed on the object must be in reached at the working space of robot.Otherwise, need carry out standard of position.
Step 6: the trajectory planning in rectangular co-ordinate space.According to the Mathematical Modeling of the 3-d modelling and the spray gun of robot and working environment, set up the growth model of film thickness, set up target model letter with the variance of film thickness as variable again.Trajectory planning is exactly to guarantee that desired coating thickness and permission maximum deviation all are under the constraints of definite value, seeking one and guarantee coating layer thickness variance minimum, the spray gun track that spray time is the shortest, and this is the multi-objective optimization question of a belt restraining.For obtaining the spray gun track of spraying effect the best, platform has designed special minimax value-based algorithm and has found the solution, and the spray gun trend of setting according to the user is carried out parameter optimization to the spray gun track again, obtains the spray gun track of an optimization.If the user has selected the method for first kind of trajectory planning, then only need directly the optimum spray gun track of trying to achieve above to be carried out robot inverse kinematics and Dynamic solving, if the tracing point that has is not in the working range of robot, after then needing these points are carried out suitable adjustment, obtain corresponding joint variable again, till analysis and emulation obtain satisfied effect.Platform also designed special algorithm to tracing point near or handle by the situation of robot singular point.In this example, do not adopt this method.
Step 7: the trajectory planning in joint coordinates space.If the user selects second kind of method for planning track, need obtain optimum spray gun track equally, get the characteristic point on the optimum spray gun track of robot then, judge that it whether in the robot working space, if do not exist, need do suitable adjustment, with guarantee the characteristic point of being got all in the robot working space, obtain the joint variable of characteristic point correspondence again by the robot inverse kinematics, the interpolation method according to the user selects calls interpolating module joint variable is carried out interpolation arithmetic.By emulation,, increase or the modification characteristic point, up to obtaining satisfied spraying effect if index does not satisfy the spraying requirement.This example adopts this method for planning track exactly.
Step 8: the dynamic simulation of spraying process.(joint variable of trying to achieve for step 7) in this example passes in the virtual reality of step 5 generation, by spraying Control-Menu control process of simulation with step 6 or 7.Emulation is finished, and observes whether mechanical hand collision workpiece, the length of spray time, the variance yields of film thickness take place in the spraying process.Click the corresponding option of spraying Control-Menu, can also selectively observe joint trajectories, joint velocity, the joint acceleration, the curve of joint torque is analyzed them and whether is satisfied constraints.If do not meet the demands, repeating step 6 or 7 (is step 7) in this example, till obtaining satisfied spraying effect.
Step 9: the storage of joint trajectories.If every index of spraying process all meets the demands, click " preserving the joint motions track " in the spraying Control-Menu, system deposits the joint motions track of robot in the joint trajectories database automatically.
Step 10: robot code generates.The joint trajectories that will be kept at if desired in the joint of robot track data storehouse changes into robot code.At first click " robot code generation " item in the Control-Menu, system can transfer the joint data automatically from database, by the pulses switch program, these data transaction are become the joint pulse, the direction that rotate in the positive negative indication joint of pulse amplitude, the density of pulse is represented the speed of velocity of rotation, and the number of pulse is represented the size of rotational angle.Then, call and the corresponding job instruction conversion module of robot model, the joint pulse is changed into the robot manipulating task file, be kept under the catalogue of engineering acquiescence.
Step 11: the transmission of robot manipulating task instruction.In the spraying Control-Menu on the human-computer interaction interface, click " robot manipulating task file transfer " button, system can jump out an Option Box, allow the user select the job file that will transmit, after selection and the click " determining ", system can drive interface by automatic calling interface driver, and the robot manipulating task command file that generates is transferred in the ROBOT CONTROL device.
Claims (10)
1. industrial robot motion planning and Performance Test System, it is characterized in that including the DBM (1) of the storage and management that is used for implementation model data and information, in running with the input of required various parameters with to the human-computer interaction module (2) of the control of other module, automatically generate the spray gun trajectory planning module (3) of the spray gun track that makes spraying effect the best, the graphical coating situation that shows spray gun surface of the work when path planning sprays, and provide the average thickness of paint film on the surface of the work and the analysis and the display module (4) of deviation data thereof with tabular form, be used to realize the robot manipulating task instruction generation module (5) of the generation of robot work order, realize inside and communicating by letter and interface module (6) that the information between the outside is transmitted, after the user sends the control instruction that imports robot or spraying task data by human-computer interaction module (2) to communication and interface module (6), communication and interface module (6) according to the instruction type of human-computer interaction module (2) with the robot model of outside or spray task data and deposit in the corresponding subdata base in the DBM (1); Control information and parameters such as relative position, spray gun angular aperture such as the method for planning track that spray gun trajectory planning module (3) is transmitted according to human-computer interaction module (2), interpolation method, robot model and the spraying task data of transmitting according to DBM (1) finished trajectory planning again; When human-computer interaction module (2) to analyzing when sending the control instruction that begins to spray with display module (4), analyze with display module (4) and the joint variable that obtains in the spray gun trajectory planning module (3) can be called in, from DBM (1), read in robot model and spraying task data simultaneously, from human-computer interaction module (2), obtain corresponding spray parameters, carry out the demonstration of spraying process; After obtaining satisfied spraying effect, human-computer interaction module (2) will send the control instruction of storage joint variable to DBM (1), and the joint variable of best spraying effect correspondence is deposited in the DBM (1); After human-computer interaction module (2) sends the order that generates the robot manipulating task instruction to robot manipulating task instruction generation module (5), robot manipulating task instruction generation module (5) is transferred the joint variable in the DBM (1), the generation that fulfils assignment and instruct, if added new robot model, the transcode of importing by human-computer interaction module (2) will join in the robot manipulating task instruction generation module (5) automatically; When human-computer interaction module (2) sends when downloading code command to communication and interface module (6), the robot manipulating task instruction that robot manipulating task instruction generation module (5) generates will be delivered in the robot controller by communication and interface module (6) and communication cable.
2. industrial robot motion planning according to claim 1 and Performance Test System, it is characterized in that above-mentioned DBM (1) comprises spraying task data library module, the spray robot model module, the spraying profile DBM, the joint trajectories DBM, the joint moment DBM, spraying task data library module is used to deposit the cad data through object after the moulding, or the data of other CAD systems that read by interface, also can be by scanning the model data that material object obtains, the spray robot model module is used to store robot model's data that the user imports by interface, the spraying profile database module stores be at the spraying profile that satisfies spraying effect the best under the prerequisite of constraints, the joint trajectories DBM is deposited the different rotational angles constantly in each joint of robot that obtain by kinematics solution, angular speed is the joint trajectories through being generated after the different interpolation processing with angular acceleration or characteristic point, joint velocity and angular speed, joint moment DBM are realized the different storages of joint moment constantly in each joint of robot.
3. industrial robot motion planning according to claim 2 and Performance Test System is characterized in that above-mentioned DBM (1) comprises the Administration menu of database, and Administration menu is realized the effective management to different objects in the database, comprise interpolation, memory function is revised in deletion.
4. industrial robot motion planning according to claim 1 and Performance Test System is characterized in that above-mentioned human-computer interaction module (2) comprises that spray parameters is provided with module, control module and program editing module.By spray parameters module is set, the user can be provided with the robot parameter, spray parameters, the method of trajectory planning and interpolation, the angular aperture of spray gun, parameters such as environmental variance, in control module, the user can pass through menu, whether control running job instruction generation module, whether the instruction code file that generates is sent in the robot controller by communication and interface module, and whether import extraneous spraying task and robot model's data, and can also check the curve of joint variable by clicking menu option, the program editing module is to aim to increase robot manipulating task Programming with Pascal Language rule and the open interface of design, the user imports new robot model by communication and interface module, can pass through the program editing interface, follow the syntax rule of the corresponding language of this robot model, add the code conversion module.
5. industrial robot motion planning according to claim 1 and Performance Test System is characterized in that above-mentioned spray gun trajectory planning module (3) comprises planning of rectangular co-ordinate space tracking and the planning of joint coordinates space tracking.The foundation of the cost functional of paint thickness growth model and evaluation spraying effect in the rectangular co-ordinate space tracking planning realization spraying process, ask for the extreme value of cost functional by the minimax value-based algorithm, automatically generation can make the spray gun track of spraying effect the best, in addition, can also the spray gun trend of setting in the module be set according to spray gun, the spray gun track is carried out parameter optimization, the spray gun track that is optimized, at last obtain the joint of robot track, realize conversion from the rectangular co-ordinate space to the joint coordinates space according to the kinematics method of separating of inverting.Because some that may occur on the optimum spray gun track put the not situation in the robot working space, therefore must just can obtain satisfied spray gun track through adjustment and emulation repeatedly, the planning of joint coordinates space tracking is to finish on the basis of rectangular co-ordinate space tracking planning, at first obtain the spray gun track of optimization by the planning of rectangular co-ordinate space tracking, then, the track characteristic point of constraints is satisfied in taking-up, obtain the joint variable of characteristic point correspondence, adopt different interpolation methods that joint variable is carried out interpolation arithmetic again, by emulation and analysis, the user can select a kind of interpolation method that relatively is suitable for this spraying task.If dissatisfied to spraying effect, can get the characteristic point that some satisfy constraint more, if increase characteristic point simply still can not obtain satisfied spraying effect, then need to revise some characteristic points, till obtaining satisfied spraying effect.
6. industrial robot motion planning according to claim 5 and Performance Test System, it is characterized in that above-mentioned interpolating module comprises the cubic polynomial interpolation, cross the cubic polynomial interpolation of path point, five order polynomials carry out interpolation, linear interpolation with parabolic transition, cross the linear interpolation with parabolic transition of path point, three rank B spline interpolations.
7. industrial robot motion planning according to claim 1 and Performance Test System, it is characterized in that above-mentioned analysis and display module (4) comprise robot model's demonstration, the demonstration of spraying task, the demonstration of robot motion's situation and spraying effect in the spraying process, the demonstration of the curve of joint variable, the demonstration of spray time.This module is according to the data so that upper module was provided, sprayed the state of object and robot in the real-time simulation spraying process, the Changing Pattern that shows various variablees, and with the tabulation form provide the used energy of spraying process, the average thickness of paint film, deviation and mean square deviation, whether satisfy its constraints with the motion and the torque that make things convenient for each joint of customer inspection robot, whether the situation of manipulator collision workpiece takes place, off-line is observed the accessibility of spray gun end, the method time spent of comparing which kind of trajectory planning is the shortest, and consumed energy is minimum, and which kind of interpolation method is the most reasonable.Be modification spray gun parameter, path, and then the best spraying effect of acquisition provide foundation.
8. industrial robot motion planning according to claim 1 and Performance Test System, it is characterized in that above-mentioned robot manipulating task instruction generation module (5) comprises the read module of joint data, the generation module of joint pulse, choosing and generation module of language conversion module, the read module of joint data is finished the task of reading the joint data from the database of joint; The generation module of joint pulse is realized by the conversion of joint data to the joint pulse value; Choose and the generation module of language conversion module finished and the choosing automatically of the robot corresponding language conversion module of model, and realize by the conversion of joint pulse to robot language, generate the necessary job instruction of robot motion, for obtaining general platform, this module has adopted open programmed method, except the language conversion module of platform provided three kinds of model commonly used robots, the user can pass through modular programming mode, adds and the robot model's corresponding programs conversion module that oneself imports at robot language Transformation Program editing area.At last, this module is according to the set robot type of user, automatically select corresponding with it language conversion module, by calling the joint trajectories that is stored in the joint trajectories database, finish the conversion of joint trajectories to the joint pulse, according to grammar request, generate the job instruction file, and it is kept in the special-purpose project file folder.
9. industrial robot motion planning according to claim 1 and Performance Test System, it is characterized in that above-mentioned communication and interface module (6) comprise the input of model data and the output of job instruction, information is carried out the transmission of data by the RS232 serial ports, be composed of special port drivers, by the control of Control-Menu realization to port.Pass through interface module, the user can be the robot model of other CAD software moulding, in the data importing platform that spraying task data and scanning obtain, after handling, data are stored into respectively in spray robot model database and two submodules of spraying assignment database, so that when trajectory planning and demonstration, call.After the robot manipulating task command file generates, follow the communication protocol of this model robot, send it in the robot controller by communication and interface module, realize the Long-distance Control of Control During Paint Spraying by Robot operation.
10. the implementation method of industrial robot motion planning according to claim 1 and Performance Test System is characterized in that comprising following process:
1) DBM (1) is used for the storage and management of implementation model data and spraying information, and system is saved in them in the database after the moulding data that obtain spraying task data and robot automatically; By the spray gun trajectory planning, obtain one and can make the best and satisfied spray gun track that retrains of spraying effect, track data is deposited in database; By robot inverse kinematics and Dynamic solving, obtain joint of robot track and the joint moment corresponding with the spray gun track, deposit it in database; Simultaneously, DBM not only can be stored data, can also finish basic management function;
2) input of human-computer interaction module (2) realization system required various parameters in running and to the control of other module, the user can also add the program translation function in this module.In the process of robot simulation and analysis and trajectory planning, need the user relevant parameters to be set by man-machine interface; The code generation also needs the user to send instruction by man-machine interface with the execution of communicating by letter with transport module; When the user imports the robot of new model by communication with interface module, can add corresponding language generation program by the documents editing window of this module simultaneously, this module can also be packed the program of adding automatically, as the part of robot manipulating task instruction generation module.
3) spray gun trajectory planning module (3) realization makes the automatic generation of the spray gun track of spraying effect the best, at first, after the spray gun track is finished modeling, transfers by the CAD moulding data of spraying object, sets up paint thickness growth model in the spraying process.As the standard of estimating the spraying effect quality, set up cost functional with the variance of film thickness, algorithm for design is asked for the minimum of cost functional, and then obtains the space tracking of a spray gun motion; Then, according to the setting of user to spray parameters, this track is carried out suitable optimization, utilization robot kinematics principle is obtained the joint motions track of optimizing spray gun track correspondence, by analysis with emulation after, check whether this track satisfies all constraintss of paint finishing, if the point that has does not satisfy constraint, adjust corresponding tracing point, emulation and analysis again is up to obtaining satisfied result, system provides the method for another kind of planning again on the basis of above trajectory planning, promptly get and optimize the characteristic point that satisfies constraint on the spraying profile, ask for the joint variable of characteristic point correspondence, again to its interpolation, whether compare spraying effect by emulation and analysis meets the demands, if do not satisfy the spraying requirement, then increase the number of characteristic point, recomputate, emulation, as still not obtaining satisfied effect, then need suitably to revise characteristic point, meet the demands up to spraying effect;
4) analyze that will to finish with display module (4) be the workpiece cad data that transmits according to above-mentioned each module, robot model's data, spray gun track and joint of robot track data, the various parameters of the position of spraying task and spray gun, the graphical coating situation that shows spray gun surface of the work when path planning sprays, and provide the average thickness and the deviation data thereof of paint film on the surface of the work with tabular form, the user can also observe joint angle in this process, joint velocity, the change curve of joint angle speed and joint moment, check whether it satisfies constraints, whether the situation of robot collision workpiece takes place, so that revise the spray gun parameter repeatedly, the path finally obtains satisfied spraying effect;
5) robot manipulating task instruction generation module (5) is used to realize the generation of robot work order, read machine person joint track data from database at first, generate the joint pulse, the robot type of choosing according to human-computer interaction module, automatically find the code generation module that is complementary with this model robot, generate robot working document and preservation, if the new robot model of adding of user, this module can also be transferred the program conversion module corresponding with this robot model of new interpolation, the automatic generation of completion code file automatically;
6) communication and interface module (6) have realized the information transmission between platform inside and the outside, read spraying object in the outside CAD modeling software database and robot model's cad data by this module, and it is imported in the self database, can also import task data and robot data that scanning obtains in the DBM into, for above-mentioned module provides the parameter foundation; This module can also import to the spraying operation file that the job instruction generation module generates in the robot controller, realizes the Long-distance Control of robot.
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