CN103778843A - Industrial robot demonstration and reappearance method - Google Patents
Industrial robot demonstration and reappearance method Download PDFInfo
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- CN103778843A CN103778843A CN201210414505.3A CN201210414505A CN103778843A CN 103778843 A CN103778843 A CN 103778843A CN 201210414505 A CN201210414505 A CN 201210414505A CN 103778843 A CN103778843 A CN 103778843A
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Abstract
The invention relates to an industrial robot demonstration and reappearance method. The method comprises steps of demonstration 1 and reappearance 2. The reappearance 2 comprises explains three manners including a manner 2.1 that the tail end motion of the industrial robot is a joint motion, a manner 2.2 that the tail end motion of the industrial robot is a linear motion, and a manner 2.3 that the tail end motion of the industrial robot is arc motion. The invention provides a simple and accurate demonstration and reappearance manner. A demonstration process comprises recording demonstration points, additional information of robot operation, and corresponding operation of each demonstration point. The instructions of the robot in such model comprise motion instruction, logic instruction, arithmetic instruction, operating instruction, and auxiliary instruction by combining which expected operation can be completed.
Description
Technical field
The present invention relates to a kind of teaching reproducting method of six degree of freedom articulated robot, can be by recording the relevant information of taught point in robot teaching process, logic and the operation of motion are set, write robot and complete the program of expection work, reach the object that teaching is reproduced.
Background technology
The robot applying in industry now mostly has teaching representational role, can carry out robot language programming, and the working routine storing by teach programming can repeat expection work.The program capability of robot system has determined that concrete robot uses dirigibility and the degree of intelligence of function greatly.The teaching of position and attitude is the emphasis of robot teaching normally.
Existing teaching reproduction mode has two kinds, and one is by artificial traction, and the arm of directly being moved robot by people carries out teaching to robot, and this mode is for powerful robot improper.Be the joint coordinates teaching that manual simulation draws, in distraction procedure, by computing machine, the each joint motions data sampling record of robot obtained to operating path data, the advantage of this teaching method is to control simply, shortcoming is that labour intensity is large, and operation skill is high, and precision is difficult for guaranteeing.Also having a kind of is that the robot program that off line generates is carried out in robot single step, and the taught point before robot contact workpiece stops robot, touches to carry out the correction of the taught point that robot end contacts with workpiece.The problem of this mode is will take time in the correction of taught point.
Summary of the invention
The invention provides simple, the accurate GUIDANCE FOR AUTONOMIC GUIDED VEHICLES of a kind of teaching process.Teaching process comprises the additional information of record to taught point, robot work and the record to the corresponding operating of each taught point.The instruction of the machine humanoid robot comprises movement instruction, logical order, operational order, work order and house-keeping instruction.These instructions integrate the work that can complete expection.
Technical solution of the present invention:
A kind of industrial robot teaching reproducting method, its special character is: comprise the following steps:
1] teaching:
1.1] user is according to demand parameters: movement locus is from A point (X
0, Y
0, Z
0) move to B point, the setting starting velocity VS of each axle
0, set maximal rate VM
0and setting final speed VE
0, mode of motion;
1.2] allow industrial robot move to B point according to user's request from A point, corresponding each axle rotational angle, smooth excessiveness parameter (PL), pose and industrial robot end movement mode when each middle stop of recorder people process in motion process, and read the displacement S of each axle; B point corresponds to industrial machine robot end pose (X
1, Y
1, Z
1);
2] reproduce:
2.1] in the time that industrial robot end movement is joint motions:
2.1.1] find out interpolation axle: selecting the axle of displacement maximum is interpolation axle;
2.1.2] each axle maximal rate of setting according to each axial translation and user is determined interpolation axle maximal rate VM, determines that principle is: guarantee that each axle maximal rate is less than or equal to the maximal rate VM that user sets
0;
2.1.3] form S curve: according to the setting starting velocity VS of interpolation axle
0, set final speed VE
0, maximal rate VM and displacement determine the S curve about time and speed;
2.1.4] determine the rotational angle of each cycle interpolation axle according to S curve;
2.1.5] according to step 2.1.4] rotational angle of definite each cycle interpolation axle determines the umber of pulse that each cycle will send;
2.1.6] calculate the displacement ratio of each axle and interpolation axle, the umber of pulse that will send in each cycle according to the each axle of ratio-dependent;
2.2] when industrial robot end movement is rectilinear motion:
2.2.1] find out interpolation axle: according to industrial machine robot end pose (X
1, Y
1, Z
1) and A point (X
0, Y
0, Z
0) to select the axle of displacement maximum be interpolation axle:
2.2.2] the maximal rate VM of setting interpolation axle, determines that principle is: guarantee that each axle can not exceed the maximal rate that user sets;
2.2.3] form S curve: according to the setting starting velocity VS of interpolation axle
0, set final speed VE
0, maximal rate VM and displacement determine the S curve about time and speed;
2.2.4] determine the rotational angle of each cycle interpolation axle according to S curve;
2.2.5] according to step 2.2.4] rotational angle of definite each cycle interpolation axle determines the umber of pulse that each cycle will send;
2.2.6] calculate the displacement ratio of each axle and interpolation axle, according to the umber of pulse that will send in each cycle of the each axle of displacement ratio-dependent;
2.3] when industrial robot end movement is circular motion:
2.3.1] find out interpolation axle: according to industrial machine robot end pose (X
1, Y
1, Z
1) and A point (X
0, Y
0, Z
0) to select the axle of displacement maximum be interpolation axle:
2.3.2] the maximal rate VM of setting interpolation axle, determines that principle is: guarantee that each axle can not exceed the maximal rate that user sets;
2.3.3] form S curve: according to the setting starting velocity VS of interpolation axle
0, set final speed VE
0, maximal rate VM and displacement determine the S curve about time and speed;
2.3.4] determine the rotational angle of each cycle interpolation axle according to S curve;
2.3.5] according to step 2.3.4] rotational angle of definite each cycle interpolation axle determines the umber of pulse that each cycle will send;
2.3.6] calculate the displacement ratio of each axle and interpolation axle, the umber of pulse that will send in each cycle according to the each axle of displacement ratio-dependent.
The present invention has advantages of:
1, the present invention is by the pose of robot end in teaching process, and function modoularization design, reproduces the process of programming simple.
2, the present invention is convenient to user's operation and is understood on human-computer interaction interface.
Accompanying drawing explanation
Fig. 1 reproduces programming flow diagram;
The each axle of Fig. 2 taught point joint information;
Fig. 3 taught point posture information;
Fig. 4 teaching path schematic diagram;
Fig. 5 joint INTERPOLATION CONTROL OF PULSE running software and call flow;
Fig. 6 linear interpolation control running software and call flow.
Embodiment
Movement instruction is determined mode of motion in teaching process---MOVJ(joint motions), MOVL(rectilinear motion) and MOVC(circular motion), these mode of motion refer to robot end's motion.Select every kind of mode of motion, its movable information can be kept in text.
Logical order has provided the information that connects movement instruction, comprises DOUT---the output of digital signal, the input of AOUT---simulating signal, WAIT---wait for, TIME---set of time, PAUSE---suspend, JUMP---redirect, CALL---call subroutine;---annotation, *---monumented point, RET---encounter and return.
House-keeping instruction provides some conditional statements that reproduce programming, comprises SPEED, IF, WHILE, SWITCH and ENDCALL.
Welding instruction and spraying instruction, by calling the file of welding and spraying, are carried out corresponding operation.Fig. 1 is that programming flow diagram is reproduced in teaching.The present invention has following 2 specific implementation process.
1] manually teaching:
A) system setting: hop rate has been set, and this is the foundation of reproducing starting velocity VS while carrying out interpolation operation.Each axle maximal rate is set; Guarantee arranges numerical value in effective range, and each joint maximal rate when this is teaching is calculated the factor that maximal rate VM need consider while carrying out joint interpolation while being also reproduction; Rectilinear motion maximal rate is set, maximum linear speed when this is teaching; Teaching speed percentage is set, and is the number percent of above-mentioned maximal rate; Motion reference coordinate system is set, and the mode of moving when this is teaching, has joint coordinate system, rectangular coordinate system, tool coordinates system and workpiece coordinate system to be provided with selecting.
B) press safety switch, press and drive key drive machines people to arrive object pose, call movement instruction mode of motion, the movement velocity that robot arrives this point is set, click commands determines that key preserves teaching result, and the corner that control program can arrange result and each joint according to system carrys out the pose of recorder robot end by calculating.
If c) robot motion will call other instruction to current taught point, the desired option in selection instruction, click commands is determined key, this operation meeting is recorded in text.
D) operation of repetition 2 and 3, until complete the work of expection, preserves file, completes teaching.
Carry out teaching according to as above step, write with next section of program:
1MOVJ?VJ=50.0%
2DOUT?Y#(8)=OFF
3MOVL?VL=100.0MM/S
4DOUT?Y#(8)=ON
5TIME?T=100
6DOUT?Y#(9)=ON
7WAIT?X#(2)==ON?T=0
8MOVL?VL=500.0MM/S
9MOVL?VL=500.0MM/S
Article 1, the mode that when statement explanation is reproduced, robot end gets round by bribery from the upper P1 of moving to point selection, joint velocity is set to 50% rated speed;
Article 2, statement explanation robot motion is set to 0, i.e. output low level to the P1 Y8 port of naming a person for a particular job.
Article 3, when statement explanation is reproduced, robot end moves to by P1 point the mode that P2 point selection takes the air line, and rectilinear motion maximal rate is 100.0mm/s, and seamlessly transitting parameter is 0;
Article 4, after statement explanation robot end arrives P2 point, Y8 port is set to 1, exports high level.
Article 5, statement explanation is time delay 0.1s after Y8 port output high level.
Article 6, statement explanation Y9 port is set to 1, exports high level.
Article 7, statement illustrates in the time of X2 port open, time delay 0s.
Article 8, when statement explanation is reproduced, robot end moves to by P2 point the mode that P3 point selection takes the air line, and linear velocity is 500.0mm/s;
Article 9, when statement explanation is reproduced, robot end moves to by P3 point the mode that P4 point selection takes the air line, and linear velocity is 500.0mm/s;
Fig. 2 is the figure that represents to arrive taught point joint information, and Fig. 3 is the figure (unit: mm) that represents taught point posture information, and Fig. 4 is the schematic diagram in above-mentioned teaching file teaching path.
2] automatic reproduction
In the present invention, the implementation process of reproducing part specifically has respectively following steps to three kinds of mode of motion:
2.1] joint motions playback system
Fig. 5 is joint motions mode automatic reproduction programming flow diagram.
2.1.1] determine interpolation axle.In said procedure, the mode of motion of ordering to P1 from P4 point is joint motions, from the taught point joint information of Fig. 2, selects articulation amount to change maximum axle J3 axle as interpolation axle, and interpolation axial translation is that J3 axle is at P4 point angle and P1 point differential seat angle.
2.1.2] determine the maximal rate VM of joint interpolation, first search the axle of the maximal rate minimum taking exercises, guarantee that it does not exceed the speed limit, calculate interpolation axle maximal rate, as benchmark and judge whether other kinematic axiss exceed the speed limit, if hypervelocity is adjusted maximal rate.Consider maximal rate, the displacement of the axle that takes exercises, guaranteeing, under the principle that kinematic axis does not exceed the speed limit, to determine the maximal rate of interpolation axle.
2.1.3] according to commencing speed VS, maximal rate VM and final velocity VE and interpolation displacement, calculate add accelerating sections, subtract accelerating sections, even accelerating sections, at the uniform velocity section, subtract braking section, even braking section, subtract time and the acceleration of seven procedure segments of accelerating sections, and according to time and speed corresponding to each moment of acceleration calculation.
2.1.4] judge position and the speed of interpolation in joint motions according to the time of transmitting, calculate each cycle amount of movement according to speed and current location, calculating joint position.
2.1.5] joint position and amount of movement are sent to hardware by real-time kernel, determine the pulse that servo controller need to send, judge whether joint position arrives, if arrived, interpolation finishes, otherwise continue 2.1.4] process, until interpolation finishes.
2.2] rectilinear motion playback system
Fig. 6 is rectilinear motion mode automatic reproduction programming flow diagram.
2.2.1] determine interpolation axle, the mode of motion of ordering to P2 from P1 point in said procedure is rectilinear motion, change maximumly from the displacement PZ of the known Z direction of taught point posture information of Fig. 3, select Z direction as interpolation direction, interpolation displacement is the displacement of P1 point to P2 point Z direction.
2.2.2] according to straight line maximal rate number percent, final velocity VE and the interpolation displacement of commencing speed VS, setting, calculate add accelerating sections, subtract accelerating sections, even accelerating sections, at the uniform velocity section, subtract braking section, even braking section, subtract time and the acceleration of seven procedure segments of accelerating sections, and according to time and speed corresponding to each moment of acceleration calculation.
2.2.3] according to the Time Calculation speed of transmitting, and determine robot end's pose according to speed displacement relation.
2.2.4] solve joint position according to counter the solving an equation of robot kinematics, joint position and amount of movement are sent to hardware by real-time kernel, determine the pulse that servo controller need to send, judge whether joint position arrives, if arrived, interpolation finishes, otherwise continue 2.2.3] process, until interpolation finishes.
Circular motion playback system and rectilinear motion playback system are similar.
Claims (1)
1. an industrial robot teaching reproducting method, is characterized in that: comprise the following steps:
1] teaching:
1.1] user is according to demand parameters: movement locus is from A point (X
0, Y
0, Z
0) move to B point, the setting starting velocity VS of each axle
0, set maximal rate VM
0and setting final speed VE
0, mode of motion;
1.2] allow industrial robot move to B point according to user's request from A point, corresponding each axle rotational angle, smooth excessiveness parameter (PL), pose and industrial robot end movement mode when each middle stop of recorder people process in motion process, and read the displacement S of each axle; B point corresponds to industrial machine robot end pose (X
1, Y
1, Z
1);
2] reproduce:
2.1] in the time that industrial robot end movement is joint motions:
2.1.1] find out interpolation axle: selecting the axle of displacement maximum is interpolation axle;
2.1.2] each axle maximal rate of setting according to each axial translation and user is determined interpolation axle maximal rate VM, determines that principle is: guarantee that each axle maximal rate is less than or equal to the maximal rate VM that user sets
0;
2.1.3] form S curve: according to the setting starting velocity VS of interpolation axle
0, set final speed VE
0, maximal rate VM and displacement determine the S curve about time and speed;
2.1.4] determine the rotational angle of each cycle interpolation axle according to S curve;
2.1.5] according to step 2.1.4] rotational angle of definite each cycle interpolation axle determines the umber of pulse that each cycle will send;
2.1.6] calculate the displacement ratio of each axle and interpolation axle, the umber of pulse that will send in each cycle according to the each axle of ratio-dependent;
2.2] when industrial robot end movement is rectilinear motion:
2.2.1] find out interpolation axle: according to industrial machine robot end pose (X
1, Y
1, Z
1) and A point (X
0, Y
0, Z
0) to select the axle of displacement maximum be interpolation axle:
2.2.2] the maximal rate VM of setting interpolation axle, determines that principle is: guarantee that each axle can not exceed the maximal rate that user sets;
2.2.3] form S curve: according to the setting starting velocity VS of interpolation axle
0, set final speed VE
0, maximal rate VM and displacement determine the S curve about time and speed;
2.2.4] determine the rotational angle of each cycle interpolation axle according to S curve;
2.2.5] according to step 2.2.4] rotational angle of definite each cycle interpolation axle determines the umber of pulse that each cycle will send;
2.2.6] calculate the displacement ratio of each axle and interpolation axle, according to the umber of pulse that will send in each cycle of the each axle of displacement ratio-dependent;
2.3] when industrial robot end movement is circular motion:
2.3.1] find out interpolation axle: according to industrial machine robot end pose (X
1, Y
1, Z
1) and A point (X
0, Y
0, Z
0) to select the axle of displacement maximum be interpolation axle:
2.3.2] the maximal rate VM of setting interpolation axle, determines that principle is: guarantee that each axle can not exceed the maximal rate that user sets;
2.3.3] form S curve: according to the setting starting velocity VS of interpolation axle
0, set final speed VE
0, maximal rate VM and displacement determine the S curve about time and speed;
2.3.4] determine the rotational angle of each cycle interpolation axle according to S curve;
2.3.5] according to step 2.3.4] rotational angle of definite each cycle interpolation axle determines the umber of pulse that each cycle will send;
2.3.6] calculate the displacement ratio of each axle and interpolation axle, the umber of pulse that will send in each cycle according to the each axle of displacement ratio-dependent.
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|---|---|---|---|
| CN201210414505.3A CN103778843B (en) | 2012-10-25 | 2012-10-25 | Industrial robot demonstration and reappearance method |
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|---|---|---|---|
| CN201210414505.3A CN103778843B (en) | 2012-10-25 | 2012-10-25 | Industrial robot demonstration and reappearance method |
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| CN103778843B CN103778843B (en) | 2017-02-15 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106908015A (en) * | 2017-02-16 | 2017-06-30 | 武汉惟景三维科技有限公司 | A kind of high temp objects automatized three-dimensional appearance measurement apparatus and measuring method |
| CN107553484A (en) * | 2016-06-30 | 2018-01-09 | 沈阳新松机器人自动化股份有限公司 | A kind of robot manipulating task trajectory path planning method and system |
| CN108000520A (en) * | 2017-12-05 | 2018-05-08 | 陈庆 | The motion control method and system of robot |
| CN108115706A (en) * | 2017-12-31 | 2018-06-05 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of control system of multiaxis aircraft cleaning machine device people |
| CN109760053A (en) * | 2019-01-24 | 2019-05-17 | 浙江工业大学 | A kind of Dynamic Programming method for control speed of truss manipulator |
| CN110473535A (en) * | 2019-08-15 | 2019-11-19 | 网易（杭州）网络有限公司 | Teaching playback method and device, storage medium and electronic equipment |
| CN116297531A (en) * | 2023-05-22 | 2023-06-23 | 中科慧远视觉技术(北京)有限公司 | Machine vision detection method, system, medium and equipment |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107553484A (en) * | 2016-06-30 | 2018-01-09 | 沈阳新松机器人自动化股份有限公司 | A kind of robot manipulating task trajectory path planning method and system |
| CN106908015A (en) * | 2017-02-16 | 2017-06-30 | 武汉惟景三维科技有限公司 | A kind of high temp objects automatized three-dimensional appearance measurement apparatus and measuring method |
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| CN108115706A (en) * | 2017-12-31 | 2018-06-05 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of control system of multiaxis aircraft cleaning machine device people |
| CN109760053A (en) * | 2019-01-24 | 2019-05-17 | 浙江工业大学 | A kind of Dynamic Programming method for control speed of truss manipulator |
| CN109760053B (en) * | 2019-01-24 | 2020-08-18 | 浙江工业大学 | Dynamic planning speed control method of truss manipulator |
| CN110473535A (en) * | 2019-08-15 | 2019-11-19 | 网易（杭州）网络有限公司 | Teaching playback method and device, storage medium and electronic equipment |
| CN116297531A (en) * | 2023-05-22 | 2023-06-23 | 中科慧远视觉技术(北京)有限公司 | Machine vision detection method, system, medium and equipment |
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