CN102371585A - Motion control system and method of mechanical arm - Google Patents
Motion control system and method of mechanical arm Download PDFInfo
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- CN102371585A CN102371585A CN2010102517993A CN201010251799A CN102371585A CN 102371585 A CN102371585 A CN 102371585A CN 2010102517993 A CN2010102517993 A CN 2010102517993A CN 201010251799 A CN201010251799 A CN 201010251799A CN 102371585 A CN102371585 A CN 102371585A
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Abstract
The invention relates to a motion control system and method of a mechanical arm. The method comprises the steps of: setting a motion control parameter and presetting a first target location point and a second target location point at which a rotary arm connected with the Z axis of the three-axis mechanical arm is about to arrive; in a polar coordinate system taking a moving distance from the root of the rotary arm to the first target location point as a rotation axis, calculating a theoretical angle at which the tail end of the rotary arm rotates if the tail end arrives at the second target location point, and calculating the motion quantities at the X-axis and the Y-axis of the arm; calculating an offset correction vector of the rotation axis, correcting the motion quantities at the X-axis and the Y-axis of the arm, and replacing the theoretical angle with a discrete multiple step angle; and outputting the motion control parameter to the three-axis mechanical arm in order to control the motion thereof according to the corrected motion quantities, and outputting a pulse number according to the step angle of discrete multiples in order to control the rotation of the rotary arm.
Description
Technical field
The present invention relates to a kind of kinetic control system and method, relate in particular to a kind of kinetic control system and method for mechanical arm.
Background technology
Mechanical arm is the automated machine device that in the robot technical field, obtains at present broad practice, its can accurately navigate on three-dimensional (or two dimension) space certain a bit carry out operation.Mechanical arm is divided into the multi-joint manipulator arm according to the difference of version, rectangular coordinate system mechanical arm, spherical coordinate system mechanical arm, polar coordinates mechanical arm, cylindrical coordinates mechanical arm etc.
In conventional art; The polar coordinates mechanical arm is divided into the mechanical arm of multiple motion control kenel; Like three linear patterns (LLL), LLL-R type etc.; Wherein, LLL-R type mechanical arm is the platform-type mechanical arm of XYZ of the most frequently used and point-device three rectilinear motions control form of present industry, and in can and being parallel on the XY plane at the fixing of Workpiece tool that the Z axle moves up and down; Polar co-ordinate type rotation (R) motion control subsystem that newly-increased one group of turning arm radius is R, both are combined to form LLL-R kenel mechanical arm.Because the range of movement of this type of mechanical arm is limited, Chang Wufa rotates running freely, so its working range is limited.
Summary of the invention
In view of above content; Be necessary to provide a kind of kinetic control system of mechanical arm; It can make the working range of mechanical arm strengthen in the motion accuracy that guarantees mechanical arm, and can the functional adjustment of instrument workpiece, detection workpiece etc. being carried out angle and direction with good conditionsi.
In view of above content; Also be necessary to provide a kind of motion control method of mechanical arm; It is in the motion accuracy that guarantees mechanical arm; Can make the working range of mechanical arm strengthen, and can the functional adjustment of instrument workpiece, detection workpiece etc. being carried out angle and direction with good conditionsi.
A kind of kinetic control system of mechanical arm runs in the master control computer, and this master control computer expert crosses three axle robert arm motion of motor motion control card control, and this three axle robert arm comprises X axle arm, Y axle arm and Z axle arm.Said kinetic control system comprises: module is set; Be used to be provided with the space coordinates position that turning arm that a motion control parameter and a preset root link to each other with Z axle arm will arrive; Wherein, on this Z axle arm a motor is arranged, its axle center links to each other with said turning arm; Said motion control parameter comprises the stepping angle of this motor, and said space coordinates position comprises the first target location point and second target location point; Computing module; Be used for is being rotating shaft with Z axle arm; Moving to some place, said first target location with the root of turning arm is in the polar coordinate system of axis of rotation; Calculate the end of turning arm if the point of theory that turning arm is rotated will arrive the said second target location point time, and the amount of movement of calculating X, Y axle arm; Said computing module; Also being used for amount of movement according to the point of theory of turning arm rotation and X, Y axle arm, to calculate the offset correction of said axis of rotation vectorial; Utilize the amount of movement of the said X of this offset correction vector corrected, Y axle arm, and replace said point of theory with the stepping angle of a discrete type multiple; And output module; Be used to export above-mentioned motion control parameter and give said three axle robert arm; Move according to the amount of movement of revised X, Y axle arm to control this three axle robert arm, and, control said turning arm rotation according to umber of pulse of stepping angle output of said discrete type multiple.
A kind of motion control method of mechanical arm is applied in the master control computer, and this master control computer expert crosses three axle robert arm motion of motor motion control card control, and this three axle robert arm comprises X axle arm, Y axle arm and Z axle arm.This method comprises the steps: to be provided with the space coordinates position that turning arm that motion control parameter and a preset root link to each other with Z axle arm will arrive; Wherein, On this Z axle arm a motor is arranged; Its axle center links to each other with said turning arm, and said motion control parameter comprises the stepping angle of this motor, and said space coordinates position comprises the first target location point and second target location point; Be rotating shaft with Z axle arm; Moving to some place, said first target location with the root of turning arm is in the polar coordinate system of axis of rotation; Calculate the end of turning arm if the point of theory that turning arm is rotated will arrive the said second target location point time, and the amount of movement of calculating X, Y axle arm; The offset correction of calculating this axis of rotation according to the amount of movement of the point of theory of turning arm rotation and X, Y axle arm is vectorial; Utilize the amount of movement of the said X of this offset correction vector corrected, Y axle arm, and replace said point of theory with the stepping angle of a discrete type multiple; And the above-mentioned motion control parameter of output is given said three axle robert arm; Move according to the amount of movement of revised X, Y axle arm to control this three axle robert arm; And, control said turning arm rotation according to umber of pulse of the stepping angle of said discrete type multiple output.
Compared to prior art; The kinetic control system of described mechanical arm and method; Drive a single-degree-of-freedom turning arm through the motor that price is more cheap on the market and be rotated motion; Just can in the motion accuracy that guarantees mechanical arm, make the working range of mechanical arm strengthen, the functional adjustment of instrument workpiece, detection workpiece etc. being carried out angle and direction with good conditionsi.
Description of drawings
Fig. 1 is the applied environment figure of the kinetic control system preferred embodiment of mechanical arm of the present invention.
Fig. 2 is the functional block diagram of the kinetic control system preferred embodiment among Fig. 1.
Fig. 3 is the operation process chart of the motion control method preferred embodiment of mechanical arm of the present invention.
Fig. 4 illustrates the anglec of rotation sketch map of turning arm of the present invention under polar coordinate system.
Fig. 5 is the calculating sketch map of axis of rotation of the present invention offset correction vector on the XY plane.
The main element symbol description
| The master control computer | ?1 |
| The motor motion control card | ?2 |
| The three axle robert arm | ?3 |
| Connector | ?4 |
| Turning arm | ?5 |
| Motor controller | ?6 |
| Motor driver | ?7 |
| Motor | ?8 |
| Instrument workpiece/detection workpiece | ?9 |
| Kinetic control system | ?10 |
| Storage device | ?12 |
| Processor | ?14 |
| Module is set | ?100 |
| Computing module | ?102 |
| Output module | ?104 |
The specific embodiment
The stepping angle of stepper motor is meant that a current impulse makes the anglec of rotation of a step of stepper motor fine motion, is example with the stepper motor of modal 200 step numbers on the market around a circle, and its stepping angle is the 360/200=1.8 degree.
As shown in Figure 1, be the applied environment figure of the kinetic control system preferred embodiment of mechanical arm of the present invention.This kinetic control system 10 runs in the master control computer 1.This master control computer 1 also comprises a storage device 12 and at least one processor 14 (as shown in Figure 2).This kinetic control system 10 is installed in the said storage device 12 with the form of software program or instruction or solidifies in the operating system of master control computer 1; And control the execution of this kinetic control system 10 by said at least one processor 14; When being implemented in the motion accuracy that guarantees mechanical arm, the purpose that the working range of control mechanical arm strengthens.
Said master control computer 1 links to each other with motor motion control card 2; This motor motion control card 2 is three motor motion control cards, and it controls X axle arm, Y axle arm and Z axle arm motion in this three axle robert arm 3 through the motor on three directions of control three axle robert arm 3.An arm of this three axle robert arm 3 links to each other with the root of a turning arm 5 through connector 4 like Z axle arm.In the present embodiment, this turning arm 5 comprises root and end, but its end fastening means workpiece/detection workpiece 9.
Said master control computer 1 also links to each other with motor controller 6, and this motor controller 6 converts binary numerical value to through the pulse signal that master control computer 1 is sent and controls motor driver 7 work, thereby makes these motor controller 7 CD-ROM drive motors 8 runnings.Wherein, this motor 8 is on said Z axle, but this motor 8 is different from the motor of the upper and lower motion of control Z axle.
Because the axle center of motor 8 links to each other with the root of said turning arm 5, therefore, turning arm 5 is the single-degree-of-freedom turning arm, and motor 8 can driven rotary arm 5 running together in running.For example; Driven rotary arm 5 rotates, and makes instrument workpiece/the detections workpiece 9 be connected with these turning arm 5 ends work, like the functional adjustment on execution angle and the direction etc.; When the end of said turning arm 5 planar rotated a circle, the track of terminal rotation formed circle as shown in Figure 4.For example,, can drive this electric screw driver full angle ground when then turning arm 5 rotates and lock screw, as do 360 rotations of spending and reach the purpose of quick lock screw if this instrument workpiece/detections workpiece 9 be electric screw driver.
Wherein, said motor 8 can be servo motor or stepper motor, and when being stepper motor like motor 8, said motor driver 7 is a stepper motor drives, and said motor controller 6 is digital I/O (Digital/O) controller; If motor 8 is a servo motor, then said motor driver 7 is a servomotor drive.Be that example is illustrated with the stepper motor in the present embodiment.
As shown in Figure 2, be the functional block diagram of kinetic control system 10 preferred embodiments of mechanical arm of the present invention.This kinetic control system 10 comprises module 100, computing module 102 and output module 104 is set.The function of these modules will combine Fig. 3 to be described in detail.
As shown in Figure 3, be the operation process chart of the motion control method preferred embodiment of mechanical arm of the present invention.
Step S300 is provided with module 100 the motion control parameter of mechanical arm and the space coordinates position that preset turning arm 5 will arrive is set, and this motion control parameter comprises stepping angle, the step number of motor 8, the brachium (like the radius R among Fig. 4 and Fig. 5) of turning arm 5 etc.Said space coordinates position comprises first target location point (like an O) and second target location point (like a g).The number of target location point is not limited to two in the present embodiment, is that example describes with two only here.
The root of turning arm 5 is moved to the said first target location point O place, as shown in Figure 4, be axis of rotation (being limit) with this first target location point O, be rotating shaft with the Z axle arm in the three axle robert arm 3.When the terminal desire of turning arm 5 will arrive the said second target location point g; In step S302; Computing module 102 calculates the point of theory that these turning arms 5 rotate under polar coordinate system, and calculates the amount of movement of three axle robert arm 3 X axle arm and Y axle arm when the end of turning arm 5 moves to the said second target location point.
Particularly; Root at turning arm 5 arrives in the process of first impact point; Need control X axle arm and Y axle arm to move; Be about to the intersection point of X axle arm and Y axle arm, move to the first target location point O place in the polar coordinates, just can know the amount of movement of X axle arm and Y axle arm by the coordinate figure of the first target location point O in rectangular coordinate system like the initial point O` in the rectangular coordinate system among Fig. 4.And the polar coordinates of the brachium of known turning arm 5 and first, second target location point can calculate the point of theory that turning arm 5 rotates under polar coordinate system.
For example, in polar coordinate system shown in Figure 4, the brachium of turning arm 5 is R, and when motor 8 advanced N step number, the angle that turning arm 5 is arrived was W, and this angle W promptly is one of discreteness angle.Under the control of motor 8, because of the discreteness of angle, true location point that the end of the feasible turning arm 5 that is driven can arrive such as some a, b, c, d, e and the f among Fig. 4, the pairing angle of these true location point is the discreteness angle.
Yet in actual conditions, because the angle (above-mentioned theory angle) that the end of turning arm 5 is rotated when rotating to the above-mentioned second target location point is not said discreteness angle, therefore, the end of turning arm 5 just can't arrive the said second target location point g.And when the brachium of turning arm 5 was big more, the Position Control error of turning arm 5 was more obvious, and promptly the margin of error is directly proportional with brachium.Desire is wanted the motion control precision of elevating mechanism arm, needs to adopt the stepper motor of expensive high step number, and the brachium that perhaps shortens turning arm 5 makes the said margin of error within the acceptable range.Yet these two kinds of methods may cause cost to improve or dwindle the working range of mechanical arm desire expansion.
In view of above reason; In step S304; It is vectorial that computing module 102 need calculate the offset correction of this axis of rotation according to the amount of movement of the point of theory of above-mentioned turning arm 5 rotations and X, Y axle arm; Utilize the amount of movement (concrete computational methods are as shown in Figure 5) of the said X of this offset correction vector corrected, Y axle arm, and replace said point of theory with the stepping angle of a discrete type multiple.
Wherein, said stepping angle with a discrete type multiple replaces said point of theory and is meant that the stepping angle with an integral multiple replaces said point of theory.For example, said point of theory equals 17.8 degree, because motor 8 is a stepper motor; Its stepping angle is 1.8 degree, and turning arm 5 is the integral multiple rotations with 1.8 degree, that is to say; Turning arm 5 can rotate 16.2 degree or 18 degree and can not rotate 17.8 degree; Therefore, present embodiment can be spent replacement 17.8 degree by 16.2 degree or 18, promptly makes turning arm 5 rotations, 16.2 degree or 18 spend.
Step S306, the above-mentioned motion control parameter of output module 104 outputs is given said three axle robert arm 3, and exports umber of pulse a to motor controller 6, and this motor controller 6 sends to motor driver 7 after converting this umber of pulse to binary numerical value.Wherein, said umber of pulse equals above-mentioned discrete type multiple, for example; If present embodiment replaces said point of theory 17.8 degree with 16.2 degree; Then this umber of pulse equals 16.2/1.8=9, if present embodiment replaces said point of theory 17.8 degree with 18 degree, then this umber of pulse equals 18/1.8=10.
Step S308, said three axle robert arm 3 moves according to the amount of movement of revised X, Y axle arm, and simultaneously, umber of pulse (be above-mentioned binary numerical value) CD-ROM drive motor 8 runnings of motor driver 7 after according to said conversion are with 5 rotations of driven rotary arm.
Because the end of said turning arm 5 is connected with instrument workpiece/a detections workpiece 9, therefore, the rotation of turning arm 5 can drive this instrument workpiece/detections workpiece 9 and work, like the functional adjustment on execution angle and the direction etc.For example, if this instrument workpiece/detection workpiece 9 is an electric screw driver, can drive this electric screw driver full angle ground lock screw when then turning arm 5 rotates.
As shown in Figure 5, be the calculating sketch map of axis of rotation of the present invention offset correction vector on the XY plane.
In the figure, polar coordinates are carried out the translation conversion of plane space, can obtain a rectangular co-ordinate.In this rectangular co-ordinate, the corresponding location point of true location point that the end of turning arm 5 can rotate to and point of theory all can be through calculating.Shown in figure, the brachium of turning arm 5 is R, and some a, b, c, d, e and f are the true location point that the end of turning arm 5 can arrive; Point g is the corresponding location point of point of theory of turning arm 5 rotations, and wherein, angle aOg is the B degree; Be point of theory; Angle bOg is the A degree, and angle aOb is the W degree, and the step number the when end of turning arm 5 rotates to location point b is i.Therefore; The coordinate figure of some a on the XY plane is (R [cos ((i+1) W)], R [sin ((i+1) W)]), and the coordinate figure of some g on the XY plane is (R [cos (A+iW)]; R [sin (A+iW)]) or (R [cos ((i+1) W-B)]; R [sin ((i+1) W-B)]), the coordinate figure of some b on the XY plane is (R [cos (iW)], R [sin (iW)]).
Coordinate figure by above-mentioned each location point; The arrow arrowhead amount that can calculate L1 is { R (cos (iW))-R (cos (A+iW)); R (sin (iW))-R (sin (A+iW)) }, the arrow arrowhead amount of L2 is { R (cos (iW))-R [cos ((i+1) W-B], R (sin (iW))-R [sin ((i+1) W-B)] }.For example, if present embodiment replaces point of theory 17.8 degree with 18 degree, then the offset correction vector of axis of rotation on the XY plane equals the arrow arrowhead amount of L1.If present embodiment replaces point of theory 17.8 degree with 16.2 degree, then the offset correction vector of axis of rotation on the XY plane equals the arrow arrowhead amount of L2.
What should explain at last is; Above embodiment is only unrestricted in order to technical scheme of the present invention to be described; Although the present invention is specified with reference to preferred embodiment; Those of ordinary skill in the art should be appreciated that and can make amendment or be equal to replacement technical scheme of the present invention, and do not break away from the spirit and the scope of technical scheme of the present invention.
Claims (10)
1. the kinetic control system of a mechanical arm; Run in the master control computer, this master control computer expert crosses three axle robert arm motion of motor motion control card control, and this three axle robert arm comprises X axle arm, Y axle arm and Z axle arm; It is characterized in that said kinetic control system comprises:
Module is set; Be used to be provided with the space coordinates position that turning arm that a motion control parameter and a preset root link to each other with Z axle arm will arrive; Wherein, on this Z axle arm a motor is arranged, its axle center links to each other with said turning arm; Said motion control parameter comprises the stepping angle of this motor, and said space coordinates position comprises the first target location point and second target location point;
Computing module; Be used for is being rotating shaft with Z axle arm; Moving to some place, said first target location with the root of turning arm is in the polar coordinate system of axis of rotation; Calculate the end of turning arm if the point of theory that turning arm is rotated will arrive the said second target location point time, and the amount of movement of calculating X, Y axle arm;
Said computing module; Also being used for amount of movement according to the point of theory of turning arm rotation and X, Y axle arm, to calculate the offset correction of said axis of rotation vectorial; Utilize the amount of movement of the said X of this offset correction vector corrected, Y axle arm, and replace said point of theory with the stepping angle of a discrete type multiple; And
Output module; Be used to export above-mentioned motion control parameter and give said three axle robert arm; Move according to the amount of movement of revised X, Y axle arm to control this three axle robert arm, and, control said turning arm rotation according to umber of pulse of stepping angle output of said discrete type multiple.
2. the kinetic control system of mechanical arm as claimed in claim 1; It is characterized in that; Said master control computer also links to each other with a motor controller; This motor controller is used to receive said umber of pulse, and sends to a motor driver after converting this umber of pulse to binary numerical value, and this motor driver is used to drive said motor and drives said turning arm rotation.
3. the kinetic control system of mechanical arm as claimed in claim 1 is characterized in that, the end of said turning arm is connected with an instrument workpiece or detection workpiece, and this turning arm drives the instrument workpiece that is connected or surveys workpiece work in rotation.
4. the kinetic control system of mechanical arm as claimed in claim 1 is characterized in that, said motor is servo motor or stepper motor.
5. the kinetic control system of mechanical arm as claimed in claim 4 is characterized in that, said motion control parameter also comprises the length of the step number and the turning arm of motor.
6. the motion control method of a mechanical arm; Be applied in the master control computer, this master control computer expert crosses three axle robert arm motion of motor motion control card control, and this three axle robert arm comprises X axle arm, Y axle arm and Z axle arm; It is characterized in that this method comprises the steps:
The space coordinates position that turning arm that a motion control parameter and a preset root link to each other with Z axle arm will arrive is set; Wherein, On this Z axle arm a motor is arranged; Its axle center links to each other with said turning arm, and said motion control parameter comprises the stepping angle of this motor, and said space coordinates position comprises the first target location point and second target location point;
Be rotating shaft with Z axle arm; Moving to some place, said first target location with the root of turning arm is in the polar coordinate system of axis of rotation; Calculate the end of turning arm if the point of theory that turning arm is rotated will arrive the said second target location point time, and the amount of movement of calculating X, Y axle arm;
The offset correction of calculating this axis of rotation according to the amount of movement of the point of theory of turning arm rotation and X, Y axle arm is vectorial; Utilize the amount of movement of the said X of this offset correction vector corrected, Y axle arm, and replace said point of theory with the stepping angle of a discrete type multiple; And
Export above-mentioned motion control parameter and give said three axle robert arm; Move according to the amount of movement of revised X, Y axle arm to control this three axle robert arm; And, control said turning arm rotation according to umber of pulse of the stepping angle of said discrete type multiple output.
7. the motion control method of mechanical arm as claimed in claim 6 is characterized in that, said umber of pulse of stepping angle output according to said discrete type multiple, and the step of controlling said turning arm rotation comprises:
Umber of pulse of stepping angle output according to said discrete type multiple is given the motor controller that links to each other with the master control computer;
This motor controller converts this umber of pulse to binary numerical value, and should send to a motor driver by binary numerical value;
This motor driver drives the said motor running; And
Drive said turning arm rotation in the time of this motor running.
8. the motion control method of mechanical arm as claimed in claim 6 is characterized in that, the end of said turning arm is connected with an instrument workpiece or detection workpiece, and this turning arm drives the instrument workpiece that is connected or surveys workpiece work in rotation.
9. the motion control method of mechanical arm as claimed in claim 6 is characterized in that, said motor is servo motor or stepper motor.
10. the motion control method of mechanical arm as claimed in claim 9 is characterized in that, said motion control parameter also comprises the length of the step number and the turning arm of motor.
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| CN2010102517993A CN102371585A (en) | 2010-08-12 | 2010-08-12 | Motion control system and method of mechanical arm |
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| CN2010102517993A CN102371585A (en) | 2010-08-12 | 2010-08-12 | Motion control system and method of mechanical arm |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103302673A (en) * | 2013-05-17 | 2013-09-18 | 东莞市伯朗特自动化科技有限公司 | Control method and system for automated manipulator arm |
| CN107234618A (en) * | 2017-08-08 | 2017-10-10 | 广东工业大学 | A kind of two degrees of freedom mechanical arm control method and its device |
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| CN107234618A (en) * | 2017-08-08 | 2017-10-10 | 广东工业大学 | A kind of two degrees of freedom mechanical arm control method and its device |
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Application publication date: 20120314 |