CN104057451A - System and method for removing position deviation caused by shaking of mechanical hand - Google Patents
System and method for removing position deviation caused by shaking of mechanical hand Download PDFInfo
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- CN104057451A CN104057451A CN201410275881.8A CN201410275881A CN104057451A CN 104057451 A CN104057451 A CN 104057451A CN 201410275881 A CN201410275881 A CN 201410275881A CN 104057451 A CN104057451 A CN 104057451A
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Abstract
The invention belongs to the technical field of a control system and a control method, and particularly relates to a system for removing the position deviation caused by the shaking of a mechanical hand. The system comprises a master control module, a communication module, a servo pulse output module, a servo feedback pulse capturing module and a control signal input and output module, wherein the master control module comprises a deviation pulse saving module, a deviation pulse removing module, a DAC (Digital-to-Analog Conversion) module, a deviation pulse conversion module and an ADC (Analog-to-Digital Conversion) module. Compared with the prior art, through the arrangement of the deviation pulse saving module, the DAC module, the deviation pulse conversion module and the ADC module, the position deviation value which is captured when the mechanical hand stops in a B position can be removed, thus the position deviation caused by the shaking of the mechanical hand can be removed, the mechanical hand can correctly return to an A position (an original position) or can be accurately removed to other positions, and the effect of deviation accumulation during multiple moving processes can be removed at the same time.
Description
Technical field
The invention belongs to control system and control method technical field, particularly a kind of system and method for the position deviation producing for the shake of eliminating because of manipulator (particularly single-axis servo manipulator).
Background technology
Single-axis servo arm-and-hand system of the prior art as shown in Figure 1, it comprises manipulator 10, the servomotor 20 being connected with manipulator 10 and the control system 30 being electrically connected to servomotor 20, servomotor 20 carries out orderly driving to manipulator 10 under the control of control system 30, servomotor 20 can be by its corresponding signal feedback to control system 30 simultaneously, and the signal that control system 30 can be fed back by servomotor 20 judges the deviation producing in manipulator 10 runnings.
In ideal conditions, the pulse signal that servomotor 20 provides according to control system 30 drives manipulator 10, its corresponding pulse signal is fed back to control system 30 simultaneously, just there will not be position deviation.But, if there is following situation, the position deviation that just there will be manipulator 10: when control system 30 allows the Z axis of manipulator 10 from A position runs to B position by servomotor 20, manipulator 10 is parked in B position and processes other events, if there is shake in manipulator 10 now, will make the position of manipulator 10 move to C position from B position, when control system 30 allows the Z axis of manipulator 10 get back to A position by servomotor 20 again, in fact manipulator 10 is not got back to A position, but has had certain deviation with respect to A position.The deviation producing due to shake could exist always, also can produce the cumulative effect of deviation if the Z axis of manipulator 10 is ceaselessly done the reciprocating motion between A position and B position!
In view of this, the necessary system and method that a kind of position deviation producing for the shake of eliminating because of manipulator is provided, to eliminate the position deviation that shake was produced due to manipulator, also eliminated the cumulative effect of deviation in the repeatedly moving process of manipulator simultaneously.
Summary of the invention
One of object of the present invention is: for the deficiencies in the prior art, and provide a kind of system of the position deviation producing for the shake of eliminating because of manipulator, to eliminate the position deviation that shake was produced due to manipulator, also eliminated the cumulative effect of deviation in the repeatedly moving process of manipulator simultaneously.
To achieve these goals, the present invention adopts following technical scheme:
The system of the position deviation producing for the shake of eliminating because of manipulator, comprise main control module, the servo pulse output module that communication module is electrically connected to the servomotor being connected with same manipulator respectively, servo feedback pulse trapping module and control signal input/output module, described main control module and described communication module two-way communication, the output of described servo feedback pulse trapping module is connected with the input of described main control module, the input of described servo pulse output module and described control signal input/output module is all connected with the output of described main control module, described main control module comprises deviation pulse preservation module, deviation pulse cancellation module, D/A converter module, deviation pulses switch module and analog-to-digital conversion module, the output of described servo feedback pulse trapping module is connected with the input that module is preserved in described deviation pulse, the output that module is preserved in described deviation pulse is connected with the input of described deviation pulses switch module, the output of described deviation pulses switch module and the output of described D/A converter module are all connected with the input of described deviation pulse cancellation module, the output of described deviation pulse cancellation module is connected with the input of described servo pulse output module, the input of described analog-to-digital conversion module is connected with the output of described servo feedback pulse trapping module and the input of described communication module respectively with output, the input of described D/A converter module is connected with the input of described servo pulse output module with the output of described communication module respectively with output.
A kind of improvement of the system of the position deviation producing for the shake of eliminating because of manipulator as the present invention, described communication module comprises decoder module.
By Fig. 1, can be seen: when manipulator is parked in B position, process other events, if there is shake in manipulator now, and the position that makes manipulator is while moving to C position from B position, now, be actually that manipulator is counter has driven servomotor operation, after servomotor operation, export feedback pulse signal to control system simultaneously, if control system was caught and was preserved the feedback pulse of servomotor this time, when manipulator will be got back to A position from B position by the time, as long as remove the position deviation amount capturing when manipulator is parked in B position when control system output pulse signal is to servomotor, and then eliminate the position deviation that the shake due to manipulator produces, manipulator just can correctly be got back to A position (original position), or move to exactly other positions, also eliminated the cumulative effect of deviation in the repeatedly moving process of manipulator simultaneously.
The present invention is just based on this analysis, by being set, deviation pulse preserves module, deviation pulse cancellation module, with deviation pulses switch module, when being parked in B position, manipulator processes other events, if there is shake in manipulator now, and the position that makes manipulator is while moving to C position from B position, module is preserved in deviation pulse of the present invention can preserve deviation pulse, deviation pulses switch module can become corresponding servo output number of pulses by this deviation pulses switch, when receiving next servo action instruction and be transferred to main control module, communication module carries out after digital-to-analogue conversion, deviation pulse cancellation module just can remove the position deviation amount capturing when manipulator is parked in B position, and then eliminate the position deviation that the shake due to manipulator produces, manipulator just can correctly be got back to A position (original position), or move to exactly other positions, also eliminated the cumulative effect of deviation in the repeatedly moving process of manipulator simultaneously.
Another object of the present invention is to provide a kind of method that adopts system of the present invention to eliminate the position deviation that the shake because of manipulator produces, and comprises the following steps:
S1, described communication module receives servo action instruction, and this instruction is sent to described main control module, the D/A converter module of described main control module converts corresponding number of pulses to the position quantity in servo action instruction, then exports to described servomotor by described servo pulse output module;
S2, described servomotor is started working, driving mechanical hand moves, described servo feedback pulse trapping module starts feedback pulse to catch simultaneously, and the number of pulses capturing is sent to described main control module, the analog-to-digital conversion module of described main control module converts the number of pulses capturing to position quantity, then sends by described communication module;
S3, when there is no servo pulse output, if described servo feedback pulse trapping module has captured feedback pulse, there is shake in this explanation manipulator, described servo feedback pulse trapping module just sends to described main control module by the number of pulses of this feedback pulse, and be stored in described deviation pulse preservation module, after described deviation pulses switch module, the number of pulses of this feedback pulse converts corresponding servo output number of pulses M1 to;
S4, described main control module is on receiving once in servo action instruction, the D/A converter module of described main control module converts corresponding number of pulses M2 to the position quantity in servo action instruction, during through described deviation pulse cancellation module, described deviation pulse cancellation module is realized the elimination of position deviation by (M1+M2), (M1-M2) or calculation process (M2-M1), export to described servomotor more afterwards by described servo pulse output module.
As the present invention, eliminate a kind of improvement of the method for the position deviation that the shake because of manipulator produces, in S1, described communication module receives after servo action instruction, and decode operation is carried out in the servo action instruction also by decoder module, it being received.
With respect to prior art, the present invention can catch and preserve deviation pulse signal, and convert thereof into corresponding servo output number of pulses, when receiving next servo action instruction and be transferred to main control module, communication module carries out after digital-to-analogue conversion, deviation pulse cancellation module just can remove the position deviation amount capturing when manipulator is parked in B position, and then eliminate the position deviation that the shake due to manipulator produces, manipulator just can correctly be got back to A position (original position), or move to exactly other positions, also eliminated the cumulative effect of deviation in the repeatedly moving process of manipulator simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation of single-axis servo arm-and-hand system of the prior art.
Fig. 2 is system architecture schematic diagram of the present invention.
Fig. 3 is the FB(flow block) of method of the present invention.
The specific embodiment
Below in conjunction with embodiment and Figure of description, the present invention and beneficial effect thereof are described in more detail, but embodiments of the present invention are not limited to this.
As shown in Figure 2, the system of a kind of position deviation producing for the shake of eliminating because of single-axis servo manipulator provided by the invention, comprise main control module 1, the servo pulse output module 3 that communication module 2 is electrically connected to the servomotor being connected with same single-axis servo manipulator respectively, servo feedback pulse trapping module 4 and control signal input/output module 5(are servo pulse output module 3, servo feedback pulse trapping module 4 is all connected with servomotor with control signal input/output module 5, servomotor is connected with single-axis servo manipulator, for controlling the action of single-axis servo manipulator), main control module 1 and communication module 2 two-way communications, the output of servo feedback pulse trapping module 4 is connected with the input of main control module 1, the input of servo pulse output module 2 and control signal input/output module 5 is all connected with the output of main control module 1, main control module 1 comprises deviation pulse preservation module 11, deviation pulse cancellation module 12, D/A converter module 13, deviation pulses switch module 14 and analog-to-digital conversion module 15, the output of servo feedback pulse trapping module 4 is connected with the input that module 11 is preserved in deviation pulse, the output that module 11 is preserved in deviation pulse is connected with the input of deviation pulses switch module 14, the output of deviation pulses switch module 14 is all connected with the input of deviation pulse cancellation module 12 with the output of D/A converter module 15, the output of deviation pulse cancellation module 12 is connected with the input of servo pulse output module 3, the input of analog-to-digital conversion module 15 is connected with the input of communication module 2 with the output of servo feedback pulse trapping module 4 respectively with output, the input of D/A converter module 13 is connected with the input of servo pulse output module 3 with the output of communication module 2 respectively with output.
Wherein, communication module 2 comprises decoder module 21.
Adopt this system can eliminate the position deviation that the shake because of single-axis servo manipulator produces, as shown in Figure 3, it specifically comprises the steps:
S1, communication module 2 receives after servo action instruction, decode operation is carried out in the servo action instruction it being received by decoder module 21, then this instruction is sent to main control module 1, the D/A converter module 13 of main control module 1 converts corresponding number of pulses to the position quantity in servo action instruction, then exports to servomotor by servo pulse output module 3;
S2, servomotor is started working, drive single-axis servo manipulator to move along Z axis, servo feedback pulse trapping module 4 starts feedback pulse to catch simultaneously, and the number of pulses capturing is sent to main control module 1,15 of the analog-to-digital conversion moulds of main control module 1 convert the number of pulses capturing to position quantity, then send by communication module 2;
S3, when there is no servo pulse output time (be manipulator stop at mobile on Z axis after), if servo feedback pulse trapping module 4 has captured feedback pulse, illustrate that shake has appearred in single shaft servo manipulator, servo feedback pulse trapping module 4 just sends to main control module 1 by the number of pulses of this feedback pulse, and be stored in deviation pulse preservation module 11, after deviation pulses switch module 14, the number of pulses of this feedback pulse converts corresponding servo output number of pulses M1 to; If servo feedback pulse trapping module 4 does not capture feedback pulse, one-off finishes.
S4, main control module 1 is on receiving once in servo action instruction, the D/A converter module 13 of main control module 1 converts corresponding number of pulses M2 to the position quantity in servo action instruction, during through deviation pulse cancellation module 12, deviation pulse cancellation module 12 by (M1+M2), (M1-M2) or or calculation process (M2-M1) realize the elimination of position deviation, by servo pulse output module 2, export to servomotor more afterwards.
Particularly, when the Z axis of single-axis servo manipulator is from A position runs to B position, if when single-axis servo manipulator is parked in B position and processes other events, there is shake in single-axis servo manipulator, and the position that makes single-axis servo manipulator is while moving to C position from B position, if C position is greater than B position to the distance of A position to the distance of A position, when main control module 1 is receiving the instruction that allows manipulator get back to A position, deviation pulse cancellation module 12 calculation process by (M1+M2) can realize the elimination of position deviation, make single-axis servo manipulator to get back to exactly A position from C position.On the contrary, if C position is less than B position to the distance of A position to the distance of A position, when main control module 1 is receiving the instruction that allows manipulator get back to A position, deviation pulse cancellation module 12 calculation process by (M1-M2) can realize the elimination of position deviation, make single-axis servo manipulator to get back to exactly A position from C position.
Certainly, if the instruction of servo action next time that main control module 1 receives not is to get back to A position, but while moving on to another position D, be divided into following several situation:
(1) if C position is greater than B position to the distance of A position to the distance of A position, and if D position is while being greater than C position to the distance of A position to the distance of A position, deviation pulse cancellation module 12 calculation process by (M1-M2) can realize the elimination of position deviation, make single-axis servo manipulator to move to exactly D position from C position.
(2) if C position is greater than B position to the distance of A position to the distance of A position, and if D position is when being less than C position to the distance of A position and being greater than B position to the distance of A position to the distance of A position, deviation pulse cancellation module 12 calculation process by (M2-M1) can realize the elimination of position deviation, make single-axis servo manipulator to move to exactly D position from C position.
(3) if C position is greater than B position to the distance of A position to the distance of A position, and if D position is while being less than B position to the distance of A position to the distance of A position, deviation pulse cancellation module 12 calculation process by (M2+M1) can realize the elimination of position deviation, make single-axis servo manipulator to move to exactly D position from C position.
(4) if C position is less than B position to the distance of A position to the distance of A position, and if D position is while being greater than B position to the distance of A position to A position, deviation pulse cancellation module 12 calculation process by (M2+M1) can realize the elimination of position deviation, make single-axis servo manipulator to move to exactly D position from C position.
(5) if C position is less than B position to the distance of A position to the distance of A position, and if D position is when being greater than C position to the distance of A position and being less than B position to the distance of A position to the distance of A position, deviation pulse cancellation module 12 calculation process by (M1-M2) can realize the elimination of position deviation, make single-axis servo manipulator to move to exactly D position from C position.
(6) if C position is less than B position to the distance of A position to the distance of A position, and if D position is while being less than C position to the distance of A position to the distance of A position, deviation pulse cancellation module 12 calculation process by (M2-M1) can realize the elimination of position deviation, make single-axis servo manipulator to move to exactly D position from C position.
In a word, the present invention can catch and preserve deviation pulse signal, and convert thereof into corresponding servo output number of pulses, when receiving next servo action instruction and be transferred to main control module 1, communication module 2 carries out after digital-to-analogue conversion, deviation pulse cancellation module 12 just can remove the position deviation amount capturing when single-axis servo manipulator is parked in B position, and then eliminate the position deviation that the shake due to manipulator produces, manipulator just can correctly be got back to A position (original position), or move to exactly other positions, also eliminated the cumulative effect of deviation in the repeatedly moving process of manipulator simultaneously.
The announcement of book and instruction according to the above description, those skilled in the art in the invention can also change and revise above-mentioned embodiment.Therefore, the present invention is not limited to the specific embodiment disclosed and described above, to modifications and changes more of the present invention, also should fall in the protection domain of claim of the present invention.In addition,, although used some specific terms in this description, these terms just for convenience of description, do not form any restriction to the present invention.
Claims (4)
1. the system of the position deviation producing for the shake of eliminating because of manipulator, comprise main control module, the servo pulse output module that communication module is electrically connected to the servomotor being connected with same manipulator respectively, servo feedback pulse trapping module and control signal input/output module, described main control module and described communication module two-way communication, the output of described servo feedback pulse trapping module is connected with the input of described main control module, the input of described servo pulse output module and described control signal input/output module is all connected with the output of described main control module, it is characterized in that: described main control module comprises deviation pulse preservation module, deviation pulse cancellation module, D/A converter module, deviation pulses switch module and analog-to-digital conversion module, the output of described servo feedback pulse trapping module is connected with the input that module is preserved in described deviation pulse, the output that module is preserved in described deviation pulse is connected with the input of described deviation pulses switch module, the output of described deviation pulses switch module and the output of described D/A converter module are all connected with the input of described deviation pulse cancellation module, the output of described deviation pulse cancellation module is connected with the input of described servo pulse output module, the input of described analog-to-digital conversion module is connected with the output of described servo feedback pulse trapping module and the input of described communication module respectively with output, the input of described D/A converter module is connected with the input of described servo pulse output module with the output of described communication module respectively with output.
2. the system of the position deviation producing for the shake of eliminating because of manipulator according to claim 1, is characterized in that: described communication module comprises decoder module.
3. adopt system claimed in claim 1 to eliminate a method for the position deviation that the shake because of manipulator produces, it is characterized in that, comprise the following steps:
S1, described communication module receives servo action instruction, and this instruction is sent to described main control module, the D/A converter module of described main control module converts corresponding number of pulses to the position quantity in servo action instruction, then exports to described servomotor by described servo pulse output module;
S2, described servomotor is started working, driving mechanical hand moves, described servo feedback pulse trapping module starts feedback pulse to catch simultaneously, and the number of pulses capturing is sent to described main control module, the analog-to-digital conversion module of described main control module converts the number of pulses capturing to position quantity, then sends by described communication module;
S3, when there is no servo pulse output, if described servo feedback pulse trapping module has captured feedback pulse, described servo feedback pulse trapping module just sends to described main control module by the number of pulses of this feedback pulse, and be stored in described deviation pulse and preserve module, after described deviation pulses switch module, the number of pulses of this feedback pulse converts corresponding servo output number of pulses M1 to;
S4, described main control module is on receiving once in servo action instruction, the D/A converter module of described main control module converts corresponding number of pulses M2 to the position quantity in servo action instruction, during through described deviation pulse cancellation module, described deviation pulse cancellation module is realized the elimination of position deviation by (M1+M2), (M1-M2) or calculation process (M2-M1), export to described servomotor more afterwards by described servo pulse output module.
4. the method for the position deviation that elimination according to claim 3 produces because of the shake of manipulator, it is characterized in that: in S1, described communication module receives after servo action instruction, and decode operation is carried out in the servo action instruction also by decoder module, it being received.
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| CN201410275881.8A CN104057451A (en) | 2014-06-19 | 2014-06-19 | System and method for removing position deviation caused by shaking of mechanical hand |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105759720A (en) * | 2016-04-29 | 2016-07-13 | 中南大学 | Mechanical arm tracking and positioning on-line identification and correction method based on computer vision |
| CN108117024A (en) * | 2016-11-30 | 2018-06-05 | 楚天科技股份有限公司 | High-speed canning machinery hand track and localization deviation online recognition and method for correcting error |
| CN112276938A (en) * | 2020-09-11 | 2021-01-29 | 福建天泉教育科技有限公司 | Method for reducing robot rotation shake and computer readable storage medium |
| CN113119058A (en) * | 2020-01-15 | 2021-07-16 | 精工爱普生株式会社 | Robot control method and robot system |
-
2014
- 2014-06-19 CN CN201410275881.8A patent/CN104057451A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105759720A (en) * | 2016-04-29 | 2016-07-13 | 中南大学 | Mechanical arm tracking and positioning on-line identification and correction method based on computer vision |
| CN108117024A (en) * | 2016-11-30 | 2018-06-05 | 楚天科技股份有限公司 | High-speed canning machinery hand track and localization deviation online recognition and method for correcting error |
| CN108117024B (en) * | 2016-11-30 | 2020-11-13 | 楚天科技股份有限公司 | Online identification and correction method for tracking and positioning deviation of high-speed filling manipulator |
| CN113119058A (en) * | 2020-01-15 | 2021-07-16 | 精工爱普生株式会社 | Robot control method and robot system |
| CN113119058B (en) * | 2020-01-15 | 2023-11-07 | 精工爱普生株式会社 | Robot control method and robot system |
| CN112276938A (en) * | 2020-09-11 | 2021-01-29 | 福建天泉教育科技有限公司 | Method for reducing robot rotation shake and computer readable storage medium |
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Application publication date: 20140924 |