CN103778843B - Industrial robot demonstration and reappearance method - Google Patents
Industrial robot demonstration and reappearance method Download PDFInfo
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- CN103778843B CN103778843B CN201210414505.3A CN201210414505A CN103778843B CN 103778843 B CN103778843 B CN 103778843B CN 201210414505 A CN201210414505 A CN 201210414505A CN 103778843 B CN103778843 B CN 103778843B
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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 playback method of six degree of freedom articulated robot, can lead to during robot teaching
The relevant information of overwriting taught point, the logical sum operation of setting motion, write the program that robot completes expected work, reach
The purpose of teaching playback.
Background technology
The robot now applying in the industry mostly has teaching playback function, can carry out robot language programming, pass through
The working procedure that teaching program storage is got up may be repeated expected work.The program capability of robot system greatly determines
Specific robot uses motility and the degree of intelligence of function.The teaching of position and attitude is typically the weight of robot teaching
Point.
Existing teaching playback pattern has two kinds, and one kind is by artificial traction, is directly moved the arm of robot by people
Robot is carried out with teaching, this mode is for powerful robot and improper.A kind of is the joint that manual simulation draws
Coordinate teaching, in distraction procedure, obtains operating path data by computer to robot each joint motions data sampling record,
The advantage of this teaching method is to control simply, and shortcoming is high labor intensive, and operation skills are high, and precision is difficult to ensure.Also have
A kind of is that robot single step executes the robot program that off line generates, and the taught point before robotic contact's workpiece makes robot stop
Only, touch the correction of the taught point to carry out robot end and absorption surface.The problem of this mode is repairing in taught point
It to be ready taking time.
Content of the invention
The invention provides a kind of simple, the accurate GUIDANCE FOR AUTONOMIC GUIDED VEHICLES of teaching process.Teaching process is included to taught point
Record, robot work additional information and to each taught point corresponding operating record.The instruction of the machine humanoid robot
Including movement instruction, logical order, operational order, work order and house-keeping instruction.These instruction integrate can complete pre-
The work of phase.
The technical solution of the present invention：
A kind of industrial robot teaching reproducting method, it is characterized in that：Comprise the following steps：
1】Teaching：
1.1】User's arrange parameter as desired：Movement locus are from A point（X0, Y0, Z0）Move to B point, the setting of each axle rises
Beginning speed VS0, set maximal rate VM0And set final speed VE0, motion mode；
1.2】Industrial robot is allowed to move to B point according to user's request from A point, recorder people passes through in motor process
Each middle stop when corresponding each axle rotational angle, smooth excessiveness parameter（PL）, pose and industrial robot end movement side
Formula, and read the displacement S of each axle；B point corresponds to industrial robot end pose（X1,Y1,Z1）；
2】Reproduce：
2.1】When industrial robot end movement is joint motions：
2.1.1】Find out interpolation axle：The maximum axle of displacement is selected to be interpolation axle；
2.1.2】Determine interpolation axle maximal rate VM according to each axle maximal rate that each axial displacement and user set, determine former
It is then：Ensure that each axle maximal rate is less than or equal to maximal rate VM that user sets0；
2.1.3】Form S curve：Setting starting velocity VS according to interpolation axle0, set final speed VE0, maximal rate VM
And displacement determines the S curve with regard to 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】The rotational angle of each the cycle interpolation axle determining determines that each cycle is wanted
The umber of pulse sending；
2.1.6】Calculate the displacement ratio of each axle and interpolation axle, to be sent in each cycle according to each axle of ratio-dependent
Umber of pulse；
2.2】When industrial robot end movement is linear motion：
2.2.1】Find out interpolation axle：According to industrial robot end pose（X1,Y1,Z1）With A point（X0, Y0, Z0）Select position
Moving maximum axle is interpolation axle：
2.2.2】Set maximal rate VM of interpolation axle, determine that principle is：Ensure that each axle can not set beyond user
Big speed；
2.2.3】Form S curve：Setting starting velocity VS according to interpolation axle0, set final speed VE0, maximal rate VM
And displacement determines the S curve with regard to 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】The rotational angle of each the cycle interpolation axle determining determines that each cycle is wanted
The umber of pulse sending；
2.2.6】Calculate the displacement ratio of each axle and interpolation axle, being wanted in each cycle of each axle is determined according to displacement ratio
The umber of pulse sending；
2.3】When industrial robot end movement is circular motion：
2.3.1】Find out interpolation axle：According to industrial robot end pose（X1,Y1,Z1）With A point（X0, Y0, Z0）Select position
Moving maximum axle is interpolation axle：
2.3.2】Set maximal rate VM of interpolation axle, determine that principle is：Ensure that each axle can not set beyond user
Big speed；
2.3.3】Form S curve：Setting starting velocity VS according to interpolation axle0, set final speed VE0, maximal rate VM
And displacement determines the S curve with regard to 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】The rotational angle of each the cycle interpolation axle determining determines that each cycle is wanted
The umber of pulse sending；
2.3.6】Calculate the displacement ratio of each axle and interpolation axle, determine that each axle will be sent out in each cycle according to displacement ratio
The umber of pulse sent.
Advantage for present invention:
1st, the present invention passes through the pose of robot end during teaching, and function modoularization designs, and reproduces the process of programming
Simply.
2nd, the present invention is easy to user operation and understanding on human-computer interaction interface.
Brief description
Fig. 1 reproduces programming flow diagram；
Fig. 2 taught point each axis 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 software is run and call flow.
Specific embodiment
Movement instruction determines motion mode MOVJ during teaching（Joint motions）、MOVL（Linear motion）And MOVC
（Circular motion）, these motion modes refer to the motion of robot end.Select every kind of motion mode, its movable information can be protected
Exist in text.
Logical order gives the information connecting movement instruction, including the output of DOUT digital signal, AOUT
The input of analogue signal, WAIT waits, TIME set of time, and PAUSE suspends, and JUMP redirects,
CALL call subroutine,；Annotation, * index point, RET encounters return.
House-keeping instruction provides some conditional statements reproducing programming, including SPEED, IF, WHILE, SWITCH and
ENDCALL.
Welding instruction and spraying instruction, by calling the file of welding and spraying, to execute corresponding operation.Fig. 1 is teaching
Reproduce programming flow diagram.The present invention has following 2 points of specific implementation process.
1】Manual teaching：
A) system setting：Hop rate has been set, and this is to reproduce the foundation carrying out starting velocity VS during interpolation operation.Each axle is set
Maximal rate；Ensure setting numerical value in effective range, this is each joint maximal rate during teaching, is closed when being also and reproducing
Calculate, during section interpolation, the factor that maximal rate VM need to consider；Setting linear motion maximal rate, this is maximum linear during teaching
Speed；Setting teaching speed percentage, is the percentage ratio of above-mentioned maximal rate；Setting motion reference coordinate system, when this is teaching
The mode of motion, has joint coordinate system, rectangular coordinate system, tool coordinates system and workpiece coordinate system to be provided with selecting.
B) press safety switch, press driving key driven machine people and reach object pose, call movement instruction setting robot
Reach motion mode, the movement velocity of this point, click commands determination key preserves teaching result, control program can be arranged according to system
The corner in result and each joint is by calculating the pose of recorder people end.
If c) robot motion will call other instructions, the desired option in selection instruction to current taught point, click on
Instruction determination key, this operation can be recorded in text.
D) repeat 2 and 3 operation, until completing expected work, preserve file, complete 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, when sentence explanation reproduces, robot end moves to the mode that P1 point selection is got round by bribery, joint from upper
Speed is set to 50% normal speed；
Article 2, Y8 port is set to 0 to P1 point by sentence explanation robot motion, that is, export low level.
Article 3, when sentence explanation reproduces, robot end moves to, by P1 point, the mode that P2 point selection takes the air line, and straight line is transported
Dynamic maximal rate is 100.0mm/s, and seamlessly transitting parameter is 0；
Article 4, Y8 port is set to 1 after reaching P2 point by sentence explanation robot end, that is, export high level.
Article 5, sentence explanation time delay 0.1s after Y8 port output high level.
Article 6, sentence explanation Y9 port is set to 1, that is, export high level.
Article 7, sentence illustrates when X2 port open, time delay 0s.
Article 8, when sentence explanation reproduces, robot end moves to the mode that P3 point selection takes the air line, linear velocity by P2 point
For 500.0mm/s；
Article 9, when sentence explanation reproduces, robot end moves to the mode that P4 point selection takes the air line, linear velocity by P3 point
For 500.0mm/s；
Fig. 2 is to represent the figure reaching taught point joint information, and Fig. 3 is the figure representing taught point posture information（Unit：mm）,
Fig. 4 is the schematic diagram in above-mentioned teaching file teaching path.
2】Automatic reproduction
In the present invention, the implementation process of reproduction part specifically has following steps respectively to three kinds of motions mode：
2.1】Joint motions playback system
Fig. 5 is articulated way automatic reproduction programming flow diagram.
2.1.1】Determine interpolation axle.In said procedure, from P4 point to the motion mode of P1 point be joint motions, from Fig. 2
Taught point joint information understand, select the maximum axle J3 axle of articulation amount change as interpolation axle, interpolation axial displacement exists for J3 axle
P4 point angle and P1 point differential seat angle.
2.1.2】Determine maximal rate VM of joint interpolation, first look for the minimum axle of the maximal rate that takes exercises, protect
Demonstrate,prove it not exceed the speed limit, calculate interpolation axle maximal rate, as benchmark and judge whether other kinematic axiss exceed the speed limit, if hypervelocity, adjustment
Maximal rate.Consider maximal rate, the displacement of the axle that takes exercises, under ensureing the principle that kinematic axiss do not exceed the speed limit, 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 plus accelerate
Section, subtract accelerating sections, even accelerating sections, at the uniform velocity section, subtract braking section, even braking section, subtract seven procedure segments of accelerating sections time and plus
Speed, and according to time and acceleration calculation each moment corresponding speed.
2.1.4】The position of interpolation and speed in joint motions are judged according to the time of transmission, according to speed and current location
Calculate each cycle amount of movement, calculate joint position.
2.1.5】Joint position and amount of movement are sent to hardware by real-time kernel, determine that servo controller needs to send out
The pulse sent, judges whether joint position reaches, if reached, interpolation terminates, and otherwise continues 2.1.4】Process, until insert
Benefit terminates.
2.2】Linear motion playback system
Fig. 6 is rectilinear motion mode automatic reproduction programming flow diagram.
2.2.1】Determine interpolation axle, in said procedure from P1 point to the motion mode of P2 point be linear motion, from Fig. 3's
Taught point posture information understands that the displacement PZ change of Z-direction is maximum, selects Z-direction as interpolation direction, interpolation displacement is P1 point
Displacement to P2 point Z-direction.
2.2.2】According to commencing speed VS, the straight line maximal rate percentage ratio of setting, final velocity VE and interpolation displacement, meter
Calculate plus accelerating sections, subtract accelerating sections, even accelerating sections, at the uniform velocity section, subtract braking section, even braking section, subtract seven procedure segments of accelerating sections
Time and acceleration, and according to time and acceleration calculation each moment corresponding speed.
2.2.3】According to the Time Calculation speed of transmission, and robot end's pose is determined according to speed displacement relation.
2.2.4】Joint position is solved according to counter the solving equation of robot kinematics, joint position and amount of movement is passed through real
When kernel be sent to hardware, determine servo controller need send pulse, judge whether joint position reaches, if arrival,
Interpolation terminates, and otherwise continues 2.2.3】Process, until interpolation terminates.
Circular motion playback system is similar with linear motion playback system.
Claims (1)
1. a kind of industrial robot teaching reproducting method it is characterised in that：Comprise the following steps：
1】Teaching：
1.1】User's arrange parameter as desired：Movement locus are from A point (X0, Y0, Z0) moving to B point, the setting of each axle initiates speed
Degree VS0, set maximal rate VM0And set final speed VE0, motion mode；
1.2】Industrial robot is allowed to move to B point according to user's request from A point, it is each that recorder people passes through in motor process
Corresponding each axle rotational angle, smooth excessiveness parameter (PL), pose and industrial robot end movement mode during middle stop, and
Read the displacement S of each axle；B point corresponds to industrial robot end pose (X1,Y1,Z1)；
2】Reproduce：
2.1】When industrial robot end movement is joint motions：
2.1.1】Find out interpolation axle：The maximum axle of articulation amount is selected to be interpolation axle；
2.1.2】Determine interpolation axle maximal rate VM according to each axle maximal rate that each axial displacement and user set, determine principle
For：Ensure that each axle maximal rate is less than or equal to maximal rate VM that user sets0；
2.1.3】Form S curve：Setting starting velocity VS according to interpolation axle0, set final speed VE0, maximal rate VM and
Displacement determines the S curve with regard to 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】The rotational angle of each the cycle interpolation axle determining determines that each cycle will send
Umber of pulse；
2.1.6】Calculate the articulation amount ratio of each axle and interpolation axle, according to each axle of ratio-dependent in each cycle arteries and veins to be sent
Rush number；
2.2】When industrial robot end movement is linear motion：
2.2.1】Find out interpolation axle：According to industrial robot end pose (X1,Y1,Z1) and A point (X0, Y0, Z0) select displacement
Big axle is interpolation axle：
2.2.2】Set maximal rate VM of interpolation axle, determine that principle is：Ensure the maximum speed that each axle can not set beyond user
Degree；
2.2.3】Form S curve：Setting starting velocity VS according to interpolation axle0, set final speed VE0, maximal rate VM and
Displacement determines the S curve with regard to 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】The rotational angle of each the cycle interpolation axle determining determines that each cycle will send
Umber of pulse；
2.2.6】Calculate the displacement ratio of each axle and interpolation axle, will sending in each cycle of each axle is determined according to displacement ratio
Umber of pulse.
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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 true CN103778843B (en) | 2017-02-15 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107553484B (en) * | 2016-06-30 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Robot operation motion path planning method and system |
| CN106908015B (en) * | 2017-02-16 | 2019-11-19 | 武汉惟景三维科技有限公司 | A kind of high temp objects automatized three-dimensional appearance measuring device and measuring method |
| 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 |
| 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 |
| CN116297531B (en) * | 2023-05-22 | 2023-08-01 | 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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| DE4031033A1 (en) * | 1989-03-29 | 1992-04-02 | Kobe Steel Ltd | OFF-LINE TEACHING METHOD FOR INDUSTRIAL ROBOTS |
| CN101554726A (en) * | 2009-05-15 | 2009-10-14 | 北京工业大学 | Flexible two-wheel self-balance robot system and motion control method thereof |
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