CN103085071A - Visualized robot program compiling method - Google Patents

Visualized robot program compiling method Download PDF

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Publication number
CN103085071A
CN103085071A CN2013100416934A CN201310041693A CN103085071A CN 103085071 A CN103085071 A CN 103085071A CN 2013100416934 A CN2013100416934 A CN 2013100416934A CN 201310041693 A CN201310041693 A CN 201310041693A CN 103085071 A CN103085071 A CN 103085071A
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CN
China
Prior art keywords
robot
program
joint
compilation
control
Prior art date
Application number
CN2013100416934A
Other languages
Chinese (zh)
Inventor
唐孟甫
罗东明
Original Assignee
惠州市东扬科技有限公司
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by 惠州市东扬科技有限公司 filed Critical 惠州市东扬科技有限公司
Priority to CN2013100416934A priority Critical patent/CN103085071A/en
Publication of CN103085071A publication Critical patent/CN103085071A/en

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Abstract

The invention provides a visualized robot program compiling method. The method includes that (1) a servo control system is adopted to unlock a servo motor for controlling joints of a robot, programming personnel directly adjust the joints of the robot from initial positions to a required position state, and then the servo control system locks the servo motor again; and (2) the servo control system is adopted to detect pulse information of the servo motor when the servo motor passively rotates in the moving process of the joints, and then transmits the pulse information to a program compiling system, and the program compiling system converts the pulse information into corresponding data of position changes of the joints of the robot. The data of the position changes of the joints are used as program data of movement control of the joints of the robot. Through adoption of the visualized robot program compiling method, the joints of the robot can be directly adjusted. The data of the position changes of the joints can be obtained through the servo motor of the joints and the servo control system for controlling the servo motor and then converted into the program data through the program compiling system. The visualized robot program compiling method greatly reduces the difficulty in robot program compiling, eliminates branch circulation, judgment and other logic processes in a former program, reduces complexity of the program, and enables the program compiling to be simpler, more convenient and faster.

Description

A kind of visual robot program's Compilation Method

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 existing Robot Program Design, the programming 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 Design technology, 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 in 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 Design knowledge and have stronger 3d space sense could easily complete programming, this problem also causes robot still to have certain difficulty in universal process.Therefore mode of operation and 3D figure are controlled robot program's Compilation Method of combination very intuitively to be necessary to invent a kind of employing.

Summary of the invention

The objective of the invention is to overcome the above problems, propose that a kind of compiling interface is visual, the simple and convenient visual robot program's Compilation Method fast of program compilation.

For solving the problems of the technologies described above, by the following technical solutions:

A kind of visual robot program's Compilation Method, comprise the program compilation system and the robot that are arranged in outer computer, robot passes through driven by servomotor in each joint, servomotor is controlled by servo-control system, this servo-control system is connected with the program compilation system and realizes transfer of data, and the method comprises the steps:

A. servo-control system is removed the locking to the servomotor in each joint of robot, and the programming personnel directly adjusts each joint of robot from initial position to the desired position state, and servo-control system locks servomotor again;

B. servo-control system detects servomotor pulse information during passive transport in the joint motion process, again pulse information is transferred to the program compilation system, the program compilation system is converted to this pulse information the data of corresponding joint of robot change in location, and the data that this joint position changes are as the routine data of joint of robot action control.

Wherein, the place is provided with the torque force detection sensor at joint of robot, the programming personnel is when beginning to adjust joint of robot, the torque force detection sensor detects information, servo-control system stops the output of servomotor is controlled, the locking of releasing to servomotor is so that the programming personnel can adjust joint position easily.

And, described program compilation system comprises the program compilation primary module with virtual 3D emulated robot model, the program compilation system adjusts virtual each joint position of 3D emulated robot model by the joint of robot position data that obtains, and realizes the visual of effect in the program compilation process.

The present invention can directly adjust joint of robot, and the servomotor by the joint and the servo-control system of controlling servomotor obtain the data that joint position changes, then is converted to routine data by the program compilation system.The method greatly reduces the difficulty of robot program compiling, has cancelled the logics such as branch's circulation in program in the past, judgement, has reduced the complexity of program, makes the program compilation more simple, convenient and quick.

The specific embodiment

For the ease of those skilled in the art's understanding, below in conjunction with specific embodiment, structural principle of the present invention is described in further detail:

Visual robot program's Compilation Method that the present embodiment discloses, comprise the program compilation system and the robot that are arranged in outer computer, robot passes through driven by servomotor in each joint, servomotor is controlled by servo-control system, this servo-control system is connected with the program compilation system and realizes transfer of data, and the method comprises the steps:

A. servo-control system is removed the locking to the servomotor in each joint of robot, and the programming personnel directly adjusts each joint of robot from initial position to the desired position state, and servo-control system locks servomotor again;

B. servo-control system detects servomotor pulse information during passive transport in the joint motion process, again pulse information is transferred to the program compilation system, the program compilation system is converted to this pulse information the data of corresponding joint of robot change in location, and the data that this joint position changes are as the routine data of joint of robot action control.

Wherein, the place is provided with the torque force detection sensor at joint of robot, the programming personnel is when beginning to adjust joint of robot, the torque force detection sensor detects information, servo-control system stops the output of servomotor is controlled, the locking of releasing to servomotor is so that the programming personnel can adjust joint position easily.

And, described program compilation system comprises the program compilation primary module with virtual 3D emulated robot model, the program compilation system adjusts virtual each joint position of 3D emulated robot model by the joint of robot position data that obtains, and realizes the visual of effect in the program compilation process.

This programme and existing most of method for compiling robot control program difference are that existing method for compiling robot control program is all to see through the program compilation system to adjust attitude numerical value and remove control, and this programme is to adjust robot pose, with the message passback program compilation system of attitude, so be different operating concepts; Tradition is from top to bottom, this programme direct control from bottom to top.

More than for the better 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 (3)

1. visual robot program's Compilation Method, it is characterized in that, comprise the program compilation system and the robot that are arranged in outer computer, robot passes through driven by servomotor in each joint, servomotor is controlled by servo-control system, this servo-control system is connected with the program compilation system and realizes transfer of data, and the method comprises the steps:
A. servo-control system is removed the locking to the servomotor in each joint of robot, and the programming personnel directly adjusts each joint of robot from initial position to the desired position state, and servo-control system locks servomotor again;
B. servo-control system detects servomotor pulse information during passive transport in the joint motion process, again pulse information is transferred to the program compilation system, the program compilation system is converted to this pulse information the data of corresponding joint of robot change in location, and the data that this joint position changes are as the routine data of joint of robot action control.
2. visual robot program's Compilation Method according to claim 1, it is characterized in that, the place is provided with the torque force detection sensor at joint of robot, the programming personnel is when beginning to adjust joint of robot, the torque force detection sensor detects information, servo-control system stops the output of servomotor is controlled, and removes the locking to servomotor, so that the programming personnel can adjust joint position easily.
3. visual robot program's Compilation Method according to claim 2, it is characterized in that, described program compilation system comprises the program compilation primary module with virtual 3D emulated robot model, the program compilation system adjusts virtual each joint position of 3D emulated robot model by the joint of robot position data that obtains, and realizes the visual of effect in the program compilation process.
CN2013100416934A 2013-02-04 2013-02-04 Visualized robot program compiling method CN103085071A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105467858B (en) * 2015-12-01 2018-05-08 西安电子科技大学 A kind of graphical Integrated Development Environment of robot control program

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0938954A2 (en) * 1998-02-25 1999-09-01 Fujitsu Limited Interface apparatus for positioning robot
US6092004A (en) * 1996-01-24 2000-07-18 Mitsubishi Denki Kabushiki Kaisha Robot speed computing apparatus and method
CN1676287A (en) * 2004-03-31 2005-10-05 发那科株式会社 Robot teaching apparatus
CN101092031A (en) * 2007-07-12 2007-12-26 上海交通大学 Off line programming tool for industrial robot
CN101493855A (en) * 2009-01-16 2009-07-29 吉林大学 Real-time simulation system for under-driven double-feet walking robot
CN101713965A (en) * 2009-11-18 2010-05-26 惠州市东扬科技有限公司 Method for compiling robot control program
CN102026783A (en) * 2008-06-06 2011-04-20 松下电器产业株式会社 Robot, robot control device, control method and control program

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6092004A (en) * 1996-01-24 2000-07-18 Mitsubishi Denki Kabushiki Kaisha Robot speed computing apparatus and method
EP0938954A2 (en) * 1998-02-25 1999-09-01 Fujitsu Limited Interface apparatus for positioning robot
CN1676287A (en) * 2004-03-31 2005-10-05 发那科株式会社 Robot teaching apparatus
CN101092031A (en) * 2007-07-12 2007-12-26 上海交通大学 Off line programming tool for industrial robot
CN102026783A (en) * 2008-06-06 2011-04-20 松下电器产业株式会社 Robot, robot control device, control method and control program
CN101493855A (en) * 2009-01-16 2009-07-29 吉林大学 Real-time simulation system for under-driven double-feet walking robot
CN101713965A (en) * 2009-11-18 2010-05-26 惠州市东扬科技有限公司 Method for compiling robot control program

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105467858B (en) * 2015-12-01 2018-05-08 西安电子科技大学 A kind of graphical Integrated Development Environment of robot control program

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Effective date of abandoning: 20161102