CN103823467A - Control method of industrial robot demonstration planner with motion planning function - Google Patents

Control method of industrial robot demonstration planner with motion planning function Download PDF

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Publication number
CN103823467A
CN103823467A CN201410005405.4A CN201410005405A CN103823467A CN 103823467 A CN103823467 A CN 103823467A CN 201410005405 A CN201410005405 A CN 201410005405A CN 103823467 A CN103823467 A CN 103823467A
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teaching
robot
point
locus
equation
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朱世强
陈庆诚
郑东鑫
吴文祥
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Zhejiang University ZJU
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Zhejiang University ZJU
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Abstract

The invention discloses a control method of an industrial robot demonstration planner with a motion planning function. The method comprises: establishing a new demonstration file or opening a demonstration file, setting the system parameters and demonstration parameters of a robot, controlling the robot in a robot task space to carry out hand-operated demonstration, and utilizing the programming instruction of a VAL-III language to carry out demonstration programming; performing robot kinetics inversion, converting a three-dimensional locus into a joint space locus, inserting a locus intermediate point in the joint space locus, planning a locus equation, and obtaining the locus equation of a joint space; carrying out time interval interpolation calculating, and obtaining a robot control sequence point; and sending the obtained robot control sequence point to a robot controller through an RS-485 serial port. According to the invention, a demonstration system and a motion planning system are integrally combined, a robot motion planning function is provided, and the demonstration working efficiency is high.

Description

Possesses the control method of the industrial robot teaching planner of motion planning function
Present patent application is that application number is 201210161778.1, and the applying date is on May 23rd, 2012, the divisional application of the application for a patent for invention that denomination of invention is " possessing industrial robot teaching planner and the control method thereof of motion planning function ".
Technical field
The present invention relates to a kind of control method of teaching planner, particularly relate to a kind of control method of the industrial robot teaching planner that possesses motion planning function.
Background technology
Along with CIM Technology stepping closely from laboratory stage to factory's practical stage, demand to industrial robot is increasing, the market that robot automation produces is also increasing, the widespread use of industrial robot, man-machine interaction is had higher requirement, can provide good man-machine interface as the teach box of the important selectable unit of robot controller, there is teach programming, on-site supervision function, the safe teaching, the production that are widely used in industrial robot manipulate.But current existing teach box major part is all made up of control panel and display screen, and volume is larger, and button is more, teaching operation inconvenience, and work efficiency is not high.And and robot controller between also need by a planning control device, for example industrial computer, teach box is connected communication with industrial computer, industrial computer is connected with robot controller again, not only cost is higher, and easily receives the electromagnetic interference (EMI) that industrial computer brings, and avenues of communication is loaded down with trivial details, easily cause system communication fault, cause potential safety hazard.Therefore, design that a kind of low cost, volume are small and exquisite, simple and effective, reliable communications, and the teach box of integrated motion planning function control method have great economic worth and application prospect.
Summary of the invention
Larger for existing robot teach box volume, button is more, and the unhandy problem that need to be connected with industrial computer, the object of the present invention is to provide a kind of control method of the industrial robot teaching planner that possesses motion planning function.
The technical solution used in the present invention is to comprise the following steps:
S1, newly-built teaching file or open teaching file: if newly-built teaching file carries out step S2; If open teaching file, carry out step S10;
S2, the systematic parameter that robot is set and teaching parameter, systematic parameter comprises robot architecture's D-H parameter, teaching parameter comprises selects motor pattern and velocity mode;
S3, in robot task space, control carries out manual teaching, confirms task space key point and working time according to the pose of robot hand teaching, and key point comprises specifies starting point, terminal and handgrip action;
S4, utilize the programming instruction of VAL-III language to carry out teach programming;
S5, carry out that robot kinematics is contrary to be separated, task space key point is converted to joint space through point, three dimensions track is converted to joint space track;
S6, in joint space track, insert track intermediate point, track intermediate point comprises starting point, hoist point, setting point and terminating point;
S7, the each track intermediate point planned trajectory equation obtaining according to step S6, the planning mode of equation of locus is 4-3-4 polynomial expression trajectory planning or 3-5-3 polynomial expression trajectory planning, calculation optimization is planned equation, obtains the equation of locus of joint space;
S8, the equation of locus that step S7 the is obtained interval interpolation calculation of fixing time, obtains robot control sequence point;
If S9 teaching work does not also finish, get back to S2 step, reset systematic parameter and teaching parameter, re-start teaching work; If teaching end-of-job, directly carries out next step;
S10, the robot control sequence point that step S8 is obtained send in robot controller by RS-485 serial bus.
Arranging of systematic parameter in described step S2 adopts four joint teaching operations, and the motor pattern of teaching parameter is chosen as continuously, and velocity mode is chosen as medium speed.
Described step S3 is specifically: manually teaching robot moves through the task space key point of expection, task space key point through needing robot manipulation to move again, and record the task space key point coordinate of above-mentioned two kinds, confirm the working time of teaching campaign.
VAL-III Programming with Pascal Language instruction in described step S4 is made up of movement instruction, operational order and house-keeping instruction; Movement instruction comprises MOVJ, MOVL, MOVC, MOVS; Operational order comprises PICKUP, PUTDOWN; House-keeping instruction comprises START, END, DELAY.
Described step S5 specifically solves the key point of task space by robot inverse kinematics the key point of 4 each joint spaces in joint, by continuous solving, the continuous path of three-dimensional cartesian space can be converted to the joint space continuous path in 4 joints.
The equation of locus of the joint space that described step S7 obtains is acceleration continuous path equation, time optimal equation of locus or optimal smoothing equation of locus.
The fixing time of interval interpolation of fixing time in described step S8 is spaced apart 20ms, and every 20ms solves equation of locus, obtains the tracing point of corresponding time, i.e. the control sequence of robotic joint space point.
Compared with background technology, the beneficial effect that the present invention has is:
The teaching system of highly effective is not only provided, but also possesses the function of robot motion's trajectory planning, and the instruction results of trajectory planning is directly sent to robot controller by RS-485 serial communication.Such control strategy can organically combine teaching system and motion planning system, save the use of trajectory planning industrial computer, not only can reduce cost, but also reduce complicated communication link, reduce the probability of system communication fault, improve the stability of data transmission, the electromagnetic interference (EMI) of simultaneously having avoided PC to bring, the security that has improved execute-in-place.
Accompanying drawing explanation
Fig. 1 is the one-piece construction figure of teaching planner of the present invention.
Fig. 2 is the software architecture diagram of teaching planner control method of the present invention.
Fig. 3 is teaching planner teaching process flow diagram.
Fig. 4 is serial communication protocol structural drawing.
Fig. 5 is the planning trend map of equation of locus.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
As shown in Figure 1, the present invention includes core processor, program data memory, USB expansion interface, RS-485 serial communication interface, ethernet interface, power supply and reset circuit and liquid crystal touch screen; Core processor is connected with program data memory, USB expansion interface, RS-485 serial communication interface, ethernet interface, power supply and reset circuit and liquid crystal touch screen respectively, core processor adopts the embedded kernel processor chip of ARM9, ethernet interface is connected with PC, and RS-485 serial communication interface is connected with robot controller.
Described kernel processor chip adopts embedded OS.
The critical piece of teaching planner of the present invention is described below:
Core processor adopts the S3C2240A microprocessor of SAMSUNG company, based on ARM920T kernel, has the feature of low-power consumption, high integration, and integrated abundant internal resource, provides powerful external storage controller.
Program data memory mainly contains Nor Flash interface, Nand Flash interface and sdram interface circuit, NorFlash and Nand Flash have the function of power down protection, what in SDRAM, store is the data of executory program and generation, for dynamic memory, SDRAM travelling speed is fast, capacity is large, cost is low, the present embodiment is selected two 16 32MB(4Banks × 4M × 16) K4S561632 as the SDRAM of system, consider the needs of later stage transplanting linux system and QT graphical interfaces, native system selects K9F1208 as Nand Flash storer, its capacity is 64M.
USB expansion interface is used for expanding mobile storage, can realize preservation and transfer to training data, comprises the storage of teaching file and reads management, and teaching document makes the extraction of character and data character, the storage of systems parameters document and reading.
Liquid crystal touch screen adopts the TFT LCD TOUCH Module model of CHILIN company, and without other control panel buttons, volume is small and exquisite, easy and simple to handle, and good human-computer interaction interface is provided.
Ethernet interface adopts 16 ethernet controller CS8900A of Cirrus Logic company, the Ethernet access bandwidth of 10M is provided, ethernet controller can be connected with PC, for customization and transplanting built-in Linux operating system, in its graft procedure systematic procedure, embedded system need to be downloaded from PC tens mirror image data, needs to set up NFS network file system(NFS) simultaneously, log in to transmit the operations such as file with ztelnet, there is very high communication efficiency by Ethernet.
RS-485 serial communication interface adopts the integrated serial communication interface of S3C2440A, communicates with robot controller, and sending controling instruction controller is made the control in each joint according to the teach box instruction receiving.
What be connected with core processor in addition also has as the serial communication interface of debugging and serial communication interface for subsequent use, as the serial communication interface of debugging for transplant and debugging when linux system as debugging control platform (console).
The major function of robot teaching planner of the present invention has been the state of supervisory-controlled robot, systematic parameter is set, manipulation robot's motion, editor robot job task, planning robot's movement locus, and complete the communications of data and order with robot controller.Core processor is responsible for control and the processing of whole teaching planning system, and be connected with program data memory and outer extension memory by its perfect memory interface, be connected with built-in lcd controller by liquid crystal touch screen display interface, be connected with PC by ethernet interface, be used for transplanting embedded OS, be connected with PC by the serial communication interface for debugging, for the control desk of debugging embedded operating system, be connected with robot controller by RS-485 serial communication interface, for distribution of machine people steering order.
The software architecture diagram of the teaching planner control method with motion planning function of the present invention is as Fig. 2: first on PC, set up cross compilation environment, customize and compile Linux embedded operating system kernel, then transplanting embedded OS module enters in teaching planner core processor, on this basis, teaching planner completes the exploitation of bottom hardware driver, and then the design and development of completing user program, user program comprises man-machine interaction subscriber interface module, communication module and robot teaching and motion planning module.
Embedded OS module, consider the requirement of teaching planner to stability and real-time, conveniently realize management and the human-computer interaction function of multitask, adopt in the present embodiment embedded OS Linux, (SuSE) Linux OS is supported various main flow hardware devices and up-to-date hardware technology, there is abundant driver resources, in kernel aspect, the kernel efficient stable of linux system, its kernel is divided into process scheduling, memory management, interprocess communication, Virtual File System and network interface five major parts, modular mechanism can facilitate user to carry out as required cutting, be adapted to the needs of embedded system, at application, it has perfect network service and file management mechanism, has abundant Open Source Code simultaneously and develops easily and debugging acid.In embedded system, carry out Development of Graphical Interfaces, ready-made existing more ripe graphical interfaces storehouse, with Integrated Development Environment, makes user directly convenient as programming on PC.The development procedure of embedded Linux platform, generally comprise and download Boot1oader, customization and compiling kernel, make root file system and run user program four major parts: Bootloader is system bootstrap routine, after system reset, start to carry out from Bootloader, be similar to very much the BIOS on PC, Bootloader comprises system clock setting in the hardware initialization of completion system, memory block mapping, arrange after the work such as stack pointer, jump to the entrance of operating system nucleus, by control authority turning-over operation system, adopt U-Boot, having comprised some common peripheral hardwares drives, it is a powerful plate support package, reduce the exploitation that follow-up bottom hardware drives, can by JTAG instrument by BootLoader programming in Flash, complete the customization and the compiling that need linux kernel after the programming of BootLoader, carry out the corresponding function of cutting and module by conditional compilation, use make menuconifg instruction to configure kernel module by graphical interfaces, correct device number and baud rate are set to guarantee that console terminal is normally used when configuration, specified file system is supported simultaneously, the common drivings such as specified network, touch-screen, real-time clock, the bottom layer driving of writing voluntarily the hardware newly adding simultaneously, and be configured, finally compiling generates kernel reflection, final step need to be made root file system, and system adopts Yaffs(Yet Another Flash File System) file system, user program is transplanted to embedded Linux system operation, realizes the function of robot teaching operation, and complete that robot kinematics resolves, trajectory planning and communication function.
Human-computer interaction interface module, adopts QT software.It is a cross-platform graphical interfaces application program, support Windows, the operating systems such as Linux, QT only needs disposable developing application, need not again write source code, just can dispose these application programs across different desktops and embedded OS, this good cross-platform characteristic make the application of QT in embedded system very extensively, can on PC, develop the required various functions of compiling, be transplanted in embedded OS by Ethernet by cross-compiler is disposable, only need disposable developing application, need not again write source code, just can dispose across different desktops and embedded OS, succinct convenient, and adopt the exploitation of OO C Plus Plus, well packaged mechanism makes the degree of modularity of QT very high, reusability is better, also have abundant API and a large amount of exploitation documents simultaneously, very convenient to user.
Communication interface modules, adopt RS-485 serial communication interface to be connected with the robot controller of bottom, controller is made the control in each joint according to the teach box instruction receiving, be responsible for receiving teaching instruction and assignment file, distribution of machine people status information, allow the orbiting motion of robot executive routine requirement, realize program playback, because teach box is comparatively frequent with communicating by letter of master controller, in order to guarantee the stability of communication and the accuracy of data, must set up communication protocol, communication protocol has been considered the division of data function type and the definition of type of data format, comnnnication protocol structure is illustrated in fig. 4 shown below, comprise 2 bytes of function code, file beginning mark 2 byte, 2 bytes of file statement number, 32 bytes of file data body, 2 bytes of end-of-file mark.
Robot teaching and motion planning module, mainly complete following functions: 1, robot crawl motion, comprises the independently moving in four joints and the motion of tri-directions of XYZ, and can change movement velocity by setting speed coefficient; 2, robot teaching, comprises teaching operation, newly-built, preserve, editor, delete teaching file, carry out teaching instruction, back to zero, anxious stop etc.Wherein teaching language adopts the VAL-III language of simplifying, common instruction comprises: movement instruction, as MOVJ, MOVL, MOVC, MOVS, operational order: PICKUP, PUTDOWN, house-keeping instruction: START, END, DELAY etc., concrete form and instruction interpretation can reference tables 1, adopt four joint teaching operations; 3, robot motion's instruction and state show: comprise that the current each joint of robot is expected and actual amount of exercise and expectation and the actual motion amount in robot three-dimensional space, 4, function key and numerical key.5, robot planning mode: be 4-3-4 polynomial expression trajectory planning or 3-5-3 polynomial expression trajectory planning.
As Fig. 3, the following embodiment of method step of the present invention:
S1, newly-built teaching file or open teaching file: if newly-built teaching file carries out step S2; If open teaching file, carry out step S10;
S2, the systematic parameter that robot is set and teaching parameter, systematic parameter comprises robot architecture's D-H parameter, teaching parameter comprises selects motor pattern and velocity mode;
Arranging of systematic parameter adopts four joint teaching operations, and the D-H systematic parameter of robot is as shown in table 1; The model selection of teaching movement parameter is that velocity mode is chosen as medium speed continuously.
Table 1
Joint θ/° d/mm a/mm α/°
1 θ 1 0 a 1 0
2 θ 2 0 a 2 0
3 0 d 3 0 90
4 θ 4 0 0 0
S3, in robot task space, control carries out manual teaching, confirms task space key point and working time according to the pose of robot hand teaching, and key point comprises specifies starting point, terminal and handgrip action;
According to real work requirement, manually teaching robot moves through the task space key point of expection, such as walking around some barrier point, then passes through the task space key point that needs robot manipulation to move, and record the task space key point coordinate of above-mentioned two kinds, confirm the working time of teaching campaign;
S4, utilize the programming instruction of VAL-III language to carry out teach programming;
In VAL-III language, programming instruction is made up of movement instruction, operational order and house-keeping instruction; Movement instruction comprises MOVJ, MOVL, MOVC, MOVS; Operational order comprises PICKUP, PUTDOWN; House-keeping instruction comprises START, END, DELAY.The concrete form of programming instruction and instruction interpretation are in table 2;
Table 2
S5, carry out that robot kinematics is contrary to be separated, task space key point is converted to joint space through point, three dimensions track is converted to joint space track;
By robot inverse kinematics, the key point of task space is solved to the key point of 4 each joint spaces in joint, by continuous solving, the continuous path of three-dimensional cartesian space can be converted to the joint space continuous path in 4 joints;
S6, in joint space track, insert track intermediate point, track intermediate point comprises starting point, hoist point, setting point and terminating point;
Track intermediate point is set and comprises starting point, hoist point, setting point and terminating point, make whole joint space smooth trajectory continuous, in track motion process, there will not be large sudden change and impact, guaranteed robot motion's stationarity;
S7, the each track intermediate point planned trajectory equation obtaining according to step S6;
According to kinematics and dynamics constraint condition, select 4-3-4 polynomial expression trajectory planning or 3-5-3 polynomial expression trajectory planning planning mode to carry out trajectory planning, calculation optimization planning equation, obtain the equation of locus of joint space, equation of locus is acceleration continuous path equation, time optimal equation of locus or optimal smoothing equation of locus;
S8, the equation of locus that step S7 the is obtained interval interpolation calculation of fixing time, obtains robot control sequence point;
The fixing time of interval interpolation of fixing time is spaced apart 20ms, and every 20ms solves equation of locus, obtains the tracing point of corresponding time, i.e. the control sequence of robotic joint space point.
If S9 teaching work does not finish, get back to S2 step; If teaching end-of-job, carries out next step;
If teaching work does not also finish, get back to S2 step, reset systematic parameter and teaching parameter, re-start teaching work; If teaching end-of-job, directly carries out next step.
S10, the robot control sequence point that step S8 is obtained send in robot controller by RS-485 serial bus.
Adopt RS-485 serial communication interface to be connected with the robot controller of bottom, controller is made the control in each joint according to the teach box instruction receiving, be responsible for receiving teaching instruction and assignment file, distribution of machine people status information, allow the orbiting motion of robot executive routine requirement, realize program playback, because teach box is comparatively frequent with communicating by letter of master controller, in order to guarantee the stability of communication and the accuracy of data, must set up communication protocol, communication protocol has been considered the division of data function type and the definition of type of data format, comnnnication protocol structure is illustrated in fig. 4 shown below, comprise 2 bytes of function code, file beginning mark 2 byte, 2 bytes of file statement number, 32 bytes of file data body, 2 bytes of end-of-file mark.
As Fig. 5, when the planning mode of equation of locus is chosen as 4-3-4 polynomial expression trajectory planning, the motion of robot is divided into starting point, hoist point and setting point and terminating point and completes movement locus planning, the trend of planned trajectory equation can be with reference to figure 5.Starting point requires speed, acceleration to be 0, and hoist point and setting point require motion continuously, and it is 0 that terminating point requires Velocity-acceleration equally.First paragraph adopts quartic polynomial to represent from starting point to hoist point, the track of interlude from hoist point to setting point adopts cubic polynomial to represent, final stage adopts quartic polynomial from setting point to terminal, and tie point assurance speed and the acceleration of each section are continuous.
As Fig. 5, when the planning mode of equation of locus is chosen as 3-5-3 polynomial expression trajectory planning, the motion of robot is divided into starting point, hoist point and setting point and terminating point and completes movement locus planning, the trend of planned trajectory equation can be with reference to figure 5.Starting point requires speed, acceleration to be 0, and hoist point and setting point require motion continuously, and it is 0 that terminating point requires Velocity-acceleration equally.First paragraph adopts cubic polynomial to represent from starting point to hoist point, the track of interlude from hoist point to setting point adopts five order polynomials to represent, final stage adopts cubic polynomial from setting point to terminal, and tie point assurance speed and the acceleration of each section are continuous.
Above-described embodiment is preferably embodiment of the present invention; but embodiments of the present invention are not restricted to the described embodiments, other are any does not deviate from the change made under substantial principle of the present invention within the scope of the technical program, substitute and within combination is included in protection scope of the present invention.

Claims (7)

1. a control method that possesses the industrial robot teaching planner of motion planning function, is characterized in that comprising the following steps:
S1, newly-built teaching file or open teaching file: if newly-built teaching file carries out step S2; If open teaching file, carry out step S10;
S2, the systematic parameter that robot is set and teaching parameter, systematic parameter comprises robot architecture's D-H parameter, teaching parameter comprises selects motor pattern and velocity mode;
S3, in robot task space, control carries out manual teaching, confirms task space key point and working time according to the pose of robot hand teaching, and key point comprises specifies starting point, terminal and handgrip action;
S4, utilize the programming instruction of VAL-III language to carry out teach programming;
S5, carry out that robot kinematics is contrary to be separated, task space key point is converted to joint space through point, three dimensions track is converted to joint space track;
S6, in joint space track, insert track intermediate point, track intermediate point comprises starting point, hoist point, setting point and terminating point;
S7, the each track intermediate point planned trajectory equation obtaining according to step S6, the planning mode of equation of locus is 4-3-4 polynomial expression trajectory planning or 3-5-3 polynomial expression trajectory planning, calculation optimization is planned equation, obtains the equation of locus of joint space;
S8, the equation of locus that step S7 the is obtained interval interpolation calculation of fixing time, obtains robot control sequence point;
If S9 teaching work does not also finish, get back to S2 step, reset systematic parameter and teaching parameter, re-start teaching work; If teaching end-of-job, directly carries out next step;
S10, the robot control sequence point that step S8 is obtained send in robot controller by RS-485 serial bus.
2. the control method of a kind of industrial robot teaching planner that possesses motion planning function according to claim 1, it is characterized in that: arranging of the systematic parameter in described step S2 adopts four joint teaching operations, the motor pattern of teaching parameter is chosen as continuously, and velocity mode is chosen as medium speed.
3. the control method of a kind of industrial robot teaching planner that possesses motion planning function according to claim 1, it is characterized in that: described step S3 specifically: manually teaching robot moves through the task space key point of expection, task space key point through needing robot manipulation to move again, and record the task space key point coordinate of above-mentioned two kinds, confirm the working time of teaching campaign.
4. the control method of a kind of industrial robot teaching planner that possesses motion planning function according to claim 1, is characterized in that: the VAL-III Programming with Pascal Language instruction in described step S4 is made up of movement instruction, operational order and house-keeping instruction; Movement instruction comprises MOVJ, MOVL, MOVC, MOVS; Operational order comprises PICKUP, PUTDOWN; House-keeping instruction comprises START, END, DELAY.
5. the control method of a kind of industrial robot teaching planner that possesses motion planning function according to claim 1, it is characterized in that: described step S5 specifically solves the key point of task space by robot inverse kinematics the key point of 4 each joint spaces in joint, by continuous solving, the continuous path of three-dimensional cartesian space can be converted to the joint space continuous path in 4 joints.
6. the control method of a kind of industrial robot teaching planner that possesses motion planning function according to claim 1, is characterized in that: the equation of locus of the joint space that described step S7 obtains is acceleration continuous path equation, time optimal equation of locus or optimal smoothing equation of locus.
7. the control method of a kind of industrial robot teaching planner that possesses motion planning function according to claim 1, it is characterized in that: the fixing time of interval interpolation of fixing time in described step S8 is spaced apart 20ms, every 20ms solves equation of locus, obtain the tracing point of corresponding time, i.e. the control sequence of robotic joint space point.
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CN107065682A (en) * 2017-05-17 2017-08-18 西安交通大学 A kind of robot controller opens the implementation method of bottom position instruction interface
CN107220099A (en) * 2017-06-20 2017-09-29 华中科技大学 A kind of robot visualization virtual teaching system and method based on threedimensional model
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CN109605378A (en) * 2019-01-21 2019-04-12 北京镁伽机器人科技有限公司 Processing method, device and system and the storage medium of kinematic parameter
WO2020151406A1 (en) * 2019-01-21 2020-07-30 北京镁伽机器人科技有限公司 Motion control method, apparatus and system, and storage medium
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