CN103737592B - A kind of manipulator precise control system and method thereof - Google Patents

A kind of manipulator precise control system and method thereof Download PDF

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Publication number
CN103737592B
CN103737592B CN201310734882.XA CN201310734882A CN103737592B CN 103737592 B CN103737592 B CN 103737592B CN 201310734882 A CN201310734882 A CN 201310734882A CN 103737592 B CN103737592 B CN 103737592B
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China
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mechanical manipulator
control
module
motion
manipulator
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CN201310734882.XA
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Chinese (zh)
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CN103737592A (en
Inventor
刘恒
杨达飞
陈英
谭顺学
陈华
黄鹏
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柳州职业技术学院
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Abstract

The present invention discloses a kind of manipulator precise control system, and it comprises video acquisition module, image procossing module, robot movement locating point matching module, motion difference calculating module, fuzzy control device, robot movement driving mechanism, path planning module and moving target Position input module. A kind of mechanical manipulator accuracy control method, its concrete technical scheme is: 1, determine robot movement target location; 2, video acquisition module and image procossing module judge current position; 3, path planning module, to the path calculated from starting position coordinates to moving target position coordinate; 4, each joint node of mechanical manipulator is extracted at not motion control signal in the same time; 5, video acquisition equipment is started; 6, the coordinate figure of the locating point in image is obtained; 7, fuzzy control device produces control signal; 8, robot movement control signal drives mechanical manipulator to continue motion; 9, video acquisition equipment obtains robot coordinate value, and mates with planning coordinates value. Present invention achieves the motion route of real-time accurate adjustment mechanical manipulator.

Description

A kind of manipulator precise control system and method thereof

Technical field

The invention belongs to manipulator control field, it is specifically related to a kind of manipulator precise control system and method thereof.

Background technology

At present in the industry manufacture field of modernization, mechanical manipulator is had very powerful application demand. Improving constantly along with industrial automation level simultaneously, it is also proposed higher requirement to the handiness of mechanical manipulator manipulation. Traditional method for controlling robot is comparatively simple, the most typically by the setup control program in advance of the control end at mechanical manipulator, allows mechanical manipulator carry out operation control according to the motion pattern set in advance. The precision of this kind of control mode control in assembling and operational process is not high, and along with mechanical manipulator action frequently, it is possible to operate miss can be produced gradually. Due to this kind of control mode in operation, operate miss is not managed and controls, therefore error will constantly be added up, and finally makes mechanical manipulator produce serious deviation in operation, even mishandle.

Summary of the invention

Technical problem to be solved by this invention is to provide a kind of manipulator precise control system and method thereof, track route versatile and flexible in adaptation mechanical hand operating process, and the application demand of operational motion. Realize the accurate control of Robot actions process, and can according to position residing in Robot actions process and operational movement track, the motion route of real-time adjustment mechanical manipulator.

For solving the problems of the technologies described above, the present invention provides a kind of manipulator precise control system, it comprises video acquisition module, image procossing module, robot movement locating point matching module, motion difference calculates module, fuzzy control device, robot movement driving mechanism, path planning module and moving target Position input module, moving target Position input module installation robot movement terminal point coordinate information, path planning module is according to mechanical manipulator starting position and end point location information setting robot movement track, video acquisition module obtains the moving-picture information of mechanical manipulator enforcement by the video acquisition equipment being arranged on each joint of mechanical manipulator, and moving-picture information is transferred to image procossing module, image procossing module completes video image format conversion, image noise filters and image boundary correction, and graphic information is transferred to motion difference and calculates module, motion difference calculates module and calculates motion error and send fuzzy control device to, the error produced in robot movement process is processed by fuzzy control device, difference input path planning module according to moving process also sends correction signal, path planning module is according to difference correction motion track and robot movement driving mechanism is sent fill order, again by robot movement locating point matching module according to position of manipulator and setting terminal location matches, such as coupling, then terminate operational system,If not mating, then proceed to revise.

Described image procossing module also possesses the location function for image key signal, namely navigates to mechanical manipulator from the graphic information obtained, crucial locating point position in the picture, and calculates the coordinate information of locating point.

Described fuzzy control device is to the accurate control of robot movement process, and fuzzy characteristic had by oneself by fuzzy control device, it is possible to well adapt to different application scene, the control overflow of the mechanical manipulator of different structure feature in moving process.

Described video acquisition equipment is optical camera head.

A kind of mechanical manipulator accuracy control method, its concrete technical scheme is:

1, first determine that mechanical manipulator needs the target location of motion, and by the moving target Position input of mechanical manipulator to moving target Position input module;

2, video acquisition module and image procossing module cooperative judge the position residing for current mechanical manipulator, if current position residing for mechanical manipulator is initial, then, when carrying out path planning, the start position of mechanical manipulator is the starting position of system; If the position of mechanical manipulator is not be starting position, then obtains the currently residing position of mechanical manipulator by video acquisition equipment, and obtain the D coordinates value of each movement node of mechanical manipulator;

3, the path planning module that manipulator control system moving interior is integrated, to the path calculated from starting position coordinates to moving target position coordinate, provide all the period of time control signal of mechanical manipulator each movable joint in moving process, and each movable joint is when reaching target location, its each joint node final in advance to state value;

4, robot movement Controlling System is from the result of path planning, extract each joint node of mechanical manipulator at not motion control signal in the same time, input to mechanical manipulator fuzzy control device, and obtained the motion driving information of mechanical manipulator by fuzzy control device, drive mechanical manipulator to start motion;

5, start the machinery video acquisition equipment that face carries on hand, and obtained position and the coordinate information of each major joint node of mechanical manipulator by image procossing;

6, obtain the coordinate figure of the locating point in image, and calculate the difference between the motion coordinate figure in current robot movement coordinate figure and path planning by the Controlling System of mechanical manipulator;

7, difference by the location coordinate figure in robot movement process inputs to fuzzy control device, produces control signal by fuzzy control device, drives mechanical manipulator each joint node, carries out the adjustment of motion control signal;

8, robot movement control signal drives mechanical manipulator to continue motion, and is constantly monitored by the moving process of mechanical manipulator by video acquisition equipment in moving process, and the result of monitoring produces the motion control adjustment signal of robot movement process;

9, when robot movement reaches predetermined target location, obtain the location coordinate figure of each major joint point of mechanical manipulator by video acquisition equipment, and this coordinate figure is mated with the coordinate figure in path planning. If difference therebetween is less than the scope set in advance, then sending the whole signal extremely of motion to robot movement control device, mechanical manipulator stops motion, completes the control task of robot movement process.

A kind of manipulator precise control system proposed by the invention and method thereof, track route that can be versatile and flexible in adaptation mechanical hand operating process, and the application demand of operational motion, realize the accurate control to Robot actions process, and can according to position residing in Robot actions process and operational movement track, the motion route of real-time adjustment mechanical manipulator.

Accompanying drawing explanation

Fig. 1 is a kind of manipulator precise control system schematic diagram proposed by the invention.

Fig. 2 is fuzzy control device movement velocity fuzzy control table.

Fig. 3 is fuzzy control device movement angle fuzzy control table.

Fig. 4 is path planning module algorithm flow figure.

Embodiment

FIGS, a kind of manipulator precise control system, it comprises video acquisition module, image procossing module, robot movement locating point matching module, motion difference calculates module, fuzzy control device, robot movement driving mechanism, path planning module and moving target Position input module, moving target Position input module installation robot movement terminal point coordinate information, path planning module is according to mechanical manipulator starting position and end point location information setting robot movement track, video acquisition module obtains the moving-picture information of mechanical manipulator enforcement by the video acquisition equipment being arranged on each joint of mechanical manipulator, and moving-picture information is transferred to image procossing module, image procossing module completes video image format conversion, image noise filters and image boundary correction, and graphic information is transferred to motion difference and calculates module, motion difference calculates module and calculates motion error and send fuzzy control device to, the error produced in robot movement process is processed by fuzzy control device, difference input path planning module according to moving process also sends correction signal, path planning module is according to difference correction motion track and robot movement driving mechanism is sent fill order, again by robot movement locating point matching module according to position of manipulator and setting terminal location matches, such as coupling, then terminate operational system, if not mating, then proceed to revise.

Described image procossing module also possesses the location function for image key signal, namely navigates to mechanical manipulator from the graphic information obtained, crucial locating point position in the picture, and calculates the coordinate information of locating point.

Described fuzzy control device is to the accurate control of robot movement process, and fuzzy characteristic had by oneself by fuzzy control device, it is possible to well adapt to different application scene, the control overflow of the mechanical manipulator of different structure feature in moving process.

Fuzzy control device is for the control of movement velocity: when mechanical manipulator origin coordinates spot speed set(ting)value and actual speed difference are NB, and fuzzy control device sends the signal of speed adjustment NB, and the speed after correction is NB; When mechanical manipulator intermediate point one key coordinate spot speed set(ting)value and actual speed difference are NB, fuzzy control device sends the signal of speed adjustment PS, and the speed after correction is NS;

Fuzzy control device is for the control of movement angle: when mechanical manipulator origin coordinates point angle initialization value and actual angle difference are NB, fuzzy control device sends the signal of angular setting NB, and the fast angle after correction is NB; When mechanical manipulator intermediate point one key coordinate spot speed set(ting)value and actual speed difference are NM, fuzzy control device sends the signal of speed adjustment Z0, and the speed after correction is NM;

Described video acquisition equipment is optical camera head.

A kind of mechanical manipulator accuracy control method, its concrete technical scheme is:

1, first determine that mechanical manipulator needs the target location of motion, and by the moving target Position input of mechanical manipulator to moving target Position input module;

2, video acquisition module and image procossing module cooperative judge the position residing for current mechanical manipulator, if current position residing for mechanical manipulator is initial, then, when carrying out path planning, the start position of mechanical manipulator is the starting position of system; If the position of mechanical manipulator is not be starting position, then obtains the currently residing position of mechanical manipulator by video acquisition equipment, and obtain the D coordinates value of each movement node of mechanical manipulator;

3, the path planning module that manipulator control system moving interior is integrated, to the path calculated from starting position coordinates to moving target position coordinate, provide all the period of time control signal of mechanical manipulator each movable joint in moving process, and each movable joint is when reaching target location, its each joint node final in advance to state value;

4, robot movement Controlling System is from the result of path planning, extract each joint node of mechanical manipulator at not motion control signal in the same time, input to mechanical manipulator fuzzy control device, and obtained the motion driving information of mechanical manipulator by fuzzy control device, drive mechanical manipulator to start motion;

5, start the machinery video acquisition equipment that face carries on hand, and obtained position and the coordinate information of each major joint node of mechanical manipulator by image procossing;

6, obtain the coordinate figure of the locating point in image, and calculate the difference between the motion coordinate figure in current robot movement coordinate figure and path planning by the Controlling System of mechanical manipulator;

7, difference by the location coordinate figure in robot movement process inputs to fuzzy control device, produces control signal by fuzzy control device, drives mechanical manipulator each joint node, carries out the adjustment of motion control signal;

8, robot movement control signal drives mechanical manipulator to continue motion, and is constantly monitored by the moving process of mechanical manipulator by video acquisition equipment in moving process, and the result of monitoring produces the motion control adjustment signal of robot movement process;

9, when robot movement reaches predetermined target location, obtain the location coordinate figure of each major joint point of mechanical manipulator by video acquisition equipment, and this coordinate figure is mated with the coordinate figure in path planning. If difference therebetween is less than the scope set in advance, then sending the whole signal extremely of motion to robot movement control device, mechanical manipulator stops motion, completes the control task of robot movement process.

A kind of manipulator precise control system proposed by the invention and method thereof, track route that can be versatile and flexible in adaptation mechanical hand operating process, and the application demand of operational motion, realize the accurate control to Robot actions process, and can according to position residing in Robot actions process and operational movement track, the motion route of real-time adjustment mechanical manipulator.

Claims (1)

1. a mechanical manipulator accuracy control method, wherein, manipulator precise control system, it comprises video acquisition module, image procossing module, robot movement locating point matching module, motion difference calculating module, fuzzy control device, robot movement driving mechanism, path planning module and moving target Position input module
Image procossing module also possesses the location function for image key signal, the locating point namely navigating to mechanical manipulator key from the graphic information obtained position in the picture, and calculates the coordinate information of locating point;
Fuzzy control device is to the accurate control of robot movement process, and fuzzy characteristic had by oneself by fuzzy control device, it is possible to well adapt to different application scene, the control overflow of the mechanical manipulator of different structure feature in moving process;
It is characterized in that, its concrete technical scheme of control method is:
One, first determine that mechanical manipulator needs the target location of motion, and by the moving target Position input of mechanical manipulator to moving target Position input module;
Two, video acquisition module and image procossing module cooperative judge the position residing for current mechanical manipulator, if current position residing for mechanical manipulator is starting position, then, when carrying out path planning, the start position of mechanical manipulator is the starting position of system; If the position of mechanical manipulator is not starting position, then obtains the currently residing position of mechanical manipulator by video acquisition equipment, and obtain the D coordinates value of each movement node of mechanical manipulator;
Three, manipulator precise control system runs inner integrated path planning module, calculate the path from start position coordinate to moving target position coordinate, provide all the period of time control signal of mechanical manipulator each movable joint in moving process, and each movable joint is when reaching target location, the expection final state value of its each joint node;
Four, manipulator precise control system is from the result of path planning, extract each joint node of mechanical manipulator at not motion control signal in the same time, input to mechanical manipulator fuzzy control device, and obtained the motion driving information of mechanical manipulator by fuzzy control device, drive mechanical manipulator to start motion;
Five, start the machinery video acquisition equipment that face carries on hand, and obtained position and the coordinate information of mechanical manipulator each joint node by image procossing;
Six, obtain the coordinate figure of the locating point in image, and calculate the difference between the motion coordinate figure in current robot movement coordinate figure and path planning by manipulator precise control system;
Seven, difference by the locating point coordinate figure in robot movement process inputs to fuzzy control device, produces control signal by fuzzy control device, drives mechanical manipulator each joint node, carries out the adjustment of motion control signal;
Eight, robot movement control signal drives mechanical manipulator to continue motion, and is constantly monitored by the moving process of mechanical manipulator by video acquisition equipment in moving process, and the motion control adjustment signal of the result generation robot movement process according to monitoring;
Nine, when robot movement reaches predetermined target location, the locating point coordinate figure of mechanical manipulator each joint node is obtained by video acquisition equipment, and this coordinate figure is mated with the coordinate figure in path planning, if difference therebetween is less than the scope set in advance, the signal of movement ceases is then sent to manipulator precise control system, mechanical manipulator stops motion, completes the control task of robot movement process.
CN201310734882.XA 2013-12-27 2013-12-27 A kind of manipulator precise control system and method thereof CN103737592B (en)

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CN104950801B (en) * 2015-06-12 2017-08-15 北方重工集团有限公司 Using the prefabricated components side mould putting equipment electric control gear of path automatic optimal
CN105759720B (en) * 2016-04-29 2018-06-29 中南大学 Manipulator track and localization online recognition and method for correcting error based on computer vision
CN106354161A (en) * 2016-09-26 2017-01-25 湖南晖龙股份有限公司 Robot motion path planning method
CN106743059A (en) * 2017-01-25 2017-05-31 东莞产权交易中心 A kind of intelligent grabbing device and its grasping means
CN107457781A (en) * 2017-07-12 2017-12-12 国机智能技术研究院有限公司 A kind of method and system of control machine people motion
CN107515623A (en) * 2017-08-08 2017-12-26 河池学院 A kind of kinetic control system based on DSP
CN110697313A (en) * 2019-10-14 2020-01-17 国网山东省电力公司潍坊供电公司 Management equipment, control method and control system for electric energy metering device

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