CN104181814A - Robot Adaptive Control Method - Google Patents
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- 108010063678 Indole-3-Glycerol-Phosphate Synthase Proteins 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
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Abstract
机器人自适应控制方法属于工业机器人控制技术领域。现有控制方法自动化程度低、实现周期长、效率低、自动控制精度较低、重复性较差、受人为因素影响较大。本发明两组iGPS激光接收传感器分别布置在目标工件和自定位标定架上；采用激光三维扫描测量方法得到目标工件上的目标点及第一组iGPS激光接收传感器的空间矢量坐标，并储存在数据处理服务器中；两组iGPS激光接收传感器实时将各自的空间位置信号发送给数据处理服务器；由数据处理服务器根据所述空间矢量坐标、所述空间位置信号以及目标工件的数字模型，确定机器人工具端及目标工件上的各目标点的空间位姿，据此发送控制信号到机器人驱动系统，驱动机器人工具端从起始点前往目标点，实现机器人的自适应控制。
A robot adaptive control method belongs to the technical field of industrial robot control. The existing control method has low degree of automation, long implementation period, low efficiency, low automatic control precision, poor repeatability, and is greatly affected by human factors. The two groups of iGPS laser receiving sensors of the present invention are respectively arranged on the target workpiece and the self-positioning calibration frame; the target point on the target workpiece and the space vector coordinates of the first group of iGPS laser receiving sensors are obtained by using the laser three-dimensional scanning measurement method, and stored in the data In the processing server; two groups of iGPS laser receiving sensors send respective spatial position signals to the data processing server in real time; the data processing server determines the robot tool end according to the space vector coordinates, the spatial position signal and the digital model of the target workpiece. And the spatial pose of each target point on the target workpiece, based on which the control signal is sent to the robot drive system to drive the tool end of the robot from the starting point to the target point to realize the adaptive control of the robot.
Description
Technical field
The present invention relates to a kind of robot self-adaptation control method, the spatial pose of the real-time positioning robot's tool ends end of the method application iGPS and target workpiece, by digital-to-analogue, calculate both position relationships, control thus, make its in the name of pose go to impact point position or the target continuous path in target workpiece, realize the adaptive control of robot, belong to industrial robot control technology field.
Background technology
Industrial robot is to have multi-joint manipulator, relies on self power and control ability to realize the mechanical hook-up that multiple degrees of freedom operates, automatically performs task.Described mechanical hook-up is comprised of main body, drive system and three essential parts of control system.Main body comprises support 1 and topworks, and as shown in Figure 1, topworks comprises arm 2, wrist 3 and hand, and described hand is robot tool end 4 namely, and support 1 has dividing of fixed and walking.So-called multiple degrees of freedom finally shows robot tool end 4.Drive system comprises propulsion system and gear train, by it, drives topworks to produce corresponding action.Control system is sent command signal according to the computer program of input to drive system, by drive system, according to command signal, controls topworks.Industrial robot completes the operations such as loading and unloading, spot welding, carrying, handling or continuous welding, application with a bit-type or continuous path type.In operation process, robot tool end 4 is determined by following scheme with the spatial pose relation of target workpiece 5.Operator makes robot move with a flowing mode by operating grip, when robot tool end 4 arrives after target station, more manually adopt a little, comprise operation starting point and impact point, and storage, corresponding interpolation mode is set, thereby realize the robotization of robot from starting point to impact point, control.Compare with short period, high-level efficiency, high-precision demand that market is controlled robot automation, existing robot automation's control method has the following disadvantages: (1) obtains because impact point position needs manual control, and the automatic control that relevant parameter could be realized robot need be set, so this control method automaticity is low, performance period is long, efficiency is low; (2) location deviation during because of artificial collection impact point, makes the automatic control accuracy of robot lower, repeated poor; (3) because of the automatic control of robot be affected by human factors larger, so operating personnel's operative skill is had relatively high expectations.Generally speaking, in described control method, have human factor, this control method automaticity is lower, duty cycle is long, repeatability is poor, adopts a precision and is affected.
Summary of the invention
In order to make robot in operation process, avoid human factor impact, improve automaticity, shorten duty cycle, improve repeatability and adopt a precision, we have invented a kind of robot self-adaptation control method.
At the present invention's robot self-adaptation control method as shown in Figure 1 and Figure 2, in the orientation range of iGPS, be evenly arranged 2～3 iGPS generating lasers 6; Within the scope of the laser signal input of iGPS generating laser 6, first group of iGPS laser pick-off sensor 7 is arranged in target workpiece 5, second group of iGPS laser pick-off sensor 8 is evenly arranged on self-align demarcation frame 9, robot tool end 4 is placed in the geometric center place of self-align demarcation frame 9, is controlled the location work of iGPS by data processing server 10; Adopt laser three-dimensional scanning measuring method to obtain impact point in target workpiece 5 and the space vector coordinate of first group of iGPS laser pick-off sensor 7, and be stored in data processing server 10; First group of iGPS laser pick-off sensor 7, second group of iGPS laser pick-off sensor 8 send to data processing server 10 by locus signal separately in real time; By data processing server 10 according to the digital model of described space vector coordinate, described locus signal and target workpiece 5, determine the spatial pose of each impact point in robot tool end 4 and target workpiece 5, send control signals to accordingly drive system of robot, drive machines people's tool ends end 4 is gone to impact point from starting point, realizes the adaptive control of robot.
According to the present invention's scheme, by the intrinsic function of iGPS, determined that iGPS generating laser and iGPS laser pick-off sensor form an adaptive location system.By the accurate location survey of this adaptive location system field global coordinate system.IGPS can obtain the spatial positional information of the iGPS laser pick-off sensor of any amount in its orientation range simultaneously.
Because robot tool end 4 and self-align demarcation frame 9 have definite position relationship, and some iGPS laser pick-off sensors on self-align demarcation frame 9, have been evenly arranged.Meanwhile, be in the target workpiece 5 in the orientation range of iGPS and be also furnished with some iGPS laser pick-off sensors, and the space vector coordinate of impact point and these iGPS laser pick-off sensors is known.At first group of iGPS laser pick-off sensor 7, second group of iGPS laser pick-off sensor 8 sends to locus signal separately in the process of data processing server 10 in real time, data processing server 10 is according to described locus signal, the position relationship of robot tool end 4 and second group of iGPS laser pick-off sensor 8, the space vector coordinate of the impact point in target workpiece 5 and first group of iGPS laser pick-off sensor 7 and the digital model of target workpiece 5, calculate in real time the spatial pose of each impact point in robot tool end 4 and target workpiece 5, send control signals in real time accordingly drive system of robot, drive machines people's tool ends end 4 is gone to impact point from starting point.Process according to the invention, does not require and is equipped with a kind of target workpiece special tooling, does not need to submit to a kind of target workpiece special procedure.As long as target workpiece is positioned at the orientation range of iGPS, its digital model is known, and robot gets final product adaptive control, completes the processing, assembling of target workpiece etc.From process of the present invention, can find out, the present invention has avoided the impact of human factor, has improved automaticity, has shortened duty cycle, has improved repeatability and has adopted a precision.
Data processing server 7 itself has data processing, data preservation, data security detection and filtering function, be used for setting up the global coordinate system of the adaptive location system being formed by iGPS generating laser and iGPS laser pick-off sensor, positioning robot's tool ends end 4, with relative position relation and fine motion amount between the robot tool end 4 in the mode control measurement field of tracking measurement and target workpiece 5, realize robot adaptive control in real time.
The present invention's application laser three-dimensional scanning measuring method can accurately obtain measured object as the space relative coordinate of impact point etc., based on this, completes the Digital location of impact point, helps robot further to realize adaptive control.
The present invention is a kind of self-adaptation control method that merges the multinomial advanced technologies such as iGPS, iProbe probe, laser three-dimensional scanning and adaptive server.
Accompanying drawing explanation
Fig. 1 is the present invention's robot self-adaptation control method control procedure schematic diagram, and this figure is simultaneously as Figure of abstract.Fig. 2 is the related hardware components distribution schematic diagram of the present invention's robot self-adaptation control method.
Embodiment
At the present invention's robot self-adaptation control method as Fig. 1, shown in Fig. 2, in the orientation range of iGPS, be evenly arranged 2～3 iGPS generating lasers 6, as 2, 2 iGPS generating lasers 6 are positioned at robot both sides, 2 iGPS generating lasers 6 are at a distance of 7～15m, the signal that can guarantee like this iGPS generating laser 6 is used effectively, the vertical height of iGPS generating laser 6 reaches the stretching, extension height of robot tool end 4, can guarantee within the scope of robot motion like this, iGPS laser pick-off sensor can effectively receive the light of iGPS generating laser 6 transmittings.Within the scope of the laser signal input of iGPS generating laser 6, first group of iGPS laser pick-off sensor 7 is arranged in target workpiece 5, second group of iGPS laser pick-off sensor 8 is evenly arranged on self-align demarcation frame 9, and robot tool end 4 is placed in the geometric center place of self-align demarcation frame 9.Described self-align demarcation frame 9 adopts aluminium section bar rod member to make, rectangular.Because aluminium section bar rod member has highly versatile, debugs conveniently, the advantage such as lightweight, therefore, be used in robot tool end 4 and can realize multi-functional Flexible Control, for example, brill, weldering, cutting, engraving, measurement etc.Self-align demarcation frame 9 is as the adaptor that connects robot tool end 4 and second group of iGPS laser pick-off sensor 8, second group of iGPS laser pick-off sensor 8 is comprised of 4 iGPS laser pick-off sensors, in the mode of magnetic-adsorption, is fixed on 4 angles of self-align demarcation frame 9 rectangle.By data processing server 10, controlled the location work of iGPS, comprise overall signal's master control, the transmission of iGPS generating laser work order, the transmission of the reception of iGPS laser pick-off sensor locus signal, calculation process, drive system of robot control signal.IGPS generating laser 6, drive system of robot are connected with data processing server 10 in ethernet communication mode respectively.First group of iGPS laser pick-off sensor 7, second group of iGPS laser pick-off sensor 8 are connected with data processing server 10 in the mode of radio communication respectively.Adopt laser three-dimensional scanning measuring method to obtain impact point in target workpiece 5 and the space vector coordinate of first group of iGPS laser pick-off sensor 7, and be stored in data processing server 10; First group of iGPS laser pick-off sensor 7, second group of iGPS laser pick-off sensor 8 send to data processing server 10 by locus signal separately in real time; By data processing server 10 according to the digital model of described space vector coordinate, described locus signal and target workpiece 5, determine the spatial pose of each impact point in robot tool end 4 and target workpiece 5, send control signals to accordingly drive system of robot, drive machines people's tool ends end 4 is gone to impact point from starting point, realizes the adaptive control of robot.
The present invention is by using the spatial group network technology of iGPS to improve the automaticity that robot controls, shortened the robot manipulating task cycle; By the spatial pose of real-time target acquisition workpiece 5 and robot tool end 4, improved automatic control accuracy and the repeatable accuracy of robot; By setting up relevant how much digital-to-analogues of robot tool end 4 and target workpiece 5, reduced the impact of human factor in operating process.
Claims (5)
1.Yi Zhong robot self-adaptation control method, in the orientation range of iGPS, is evenly arranged 2～3 iGPS generating lasers (6); It is characterized in that, within the scope of the laser signal input of iGPS generating laser (6), first group of iGPS laser pick-off sensor (7) is arranged in target workpiece (5), second group of iGPS laser pick-off sensor (8) is evenly arranged on self-align demarcation frame (9), robot tool end (4) is placed in the geometric center place of self-align demarcation frame (9), is controlled the location work of iGPS by data processing server (10); Adopt laser three-dimensional scanning measuring method to obtain impact point in target workpiece (5) and the space vector coordinate of first group of iGPS laser pick-off sensor (7), and be stored in data processing server (10); First group of iGPS laser pick-off sensor (7), second group of iGPS laser pick-off sensor (8) send to data processing server (10) by locus signal separately in real time; By data processing server (10) according to the digital model of described space vector coordinate, described locus signal and target workpiece (5), determine the spatial pose of each impact point in robot tool end (4) and target workpiece (5), send control signals to accordingly drive system of robot, drive machines people's tool ends end (4) is gone to impact point from starting point, realizes the adaptive control of robot.
2. robot according to claim 1 self-adaptation control method, it is characterized in that, described iGPS generating laser (6) adopts 2,2 iGPS generating lasers (6) are positioned at robot both sides, 2 iGPS generating lasers (6) are at a distance of 7～15m, and the vertical height of iGPS generating laser (6) reaches the stretching, extension height of robot tool end (4).
3. robot according to claim 1 self-adaptation control method, it is characterized in that, self-align demarcation frame (9) is rectangular, second group of iGPS laser pick-off sensor (8) is comprised of 4 iGPS laser pick-off sensors, in the mode of magnetic-adsorption, is fixed on 4 angles of self-align demarcation frame (9) rectangle.
4. robot according to claim 1 self-adaptation control method, it is characterized in that, the location work that data processing server (10) is controlled iGPS comprises overall signal's master control, the transmission of iGPS generating laser work order, the transmission of the reception of iGPS laser pick-off sensor locus signal, calculation process, drive system of robot control signal.
5. robot according to claim 1 self-adaptation control method, is characterized in that, iGPS generating laser (6), drive system of robot are connected with data processing server (10) in ethernet communication mode respectively; First group of iGPS laser pick-off sensor (7), second group of iGPS laser pick-off sensor (8) are connected with data processing server (10) in the mode of radio communication respectively.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104765364A (en) * | 2015-03-06 | 2015-07-08 | 苏州大方特种车股份有限公司 | Automatic navigation truck based on iGPS |
| CN107121068A (en) * | 2017-05-12 | 2017-09-01 | 长春理工大学 | A digital positioning system and method for large-scale equipment manufacturing engineering system parts |
| CN108908368A (en) * | 2018-08-03 | 2018-11-30 | 广汽丰田汽车有限公司 | It is a kind of to beat electrostatic spike devices, material processing system to be sprayed and method automatically |
| CN114353693A (en) * | 2021-12-28 | 2022-04-15 | 中国航空工业集团公司北京长城航空测控技术研究所 | Handheld vector rod special for large-scale three-dimensional space overall measurement positioning instrument |
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2014
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Patent Citations (5)
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| WO2007101475A1 (en) * | 2006-03-08 | 2007-09-13 | Cti Systems S.A. | Automated system with suspended robot for treating surfaces, in particular of aircraft |
| CN101516580A (en) * | 2006-09-29 | 2009-08-26 | 三星重工业株式会社 | Multi-function robot for moving on wall using indoor global positioning system |
| KR20090006555A (en) * | 2007-07-12 | 2009-01-15 | 삼성중공업 주식회사 | Work module mounted on the marking process robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104765364A (en) * | 2015-03-06 | 2015-07-08 | 苏州大方特种车股份有限公司 | Automatic navigation truck based on iGPS |
| CN107121068A (en) * | 2017-05-12 | 2017-09-01 | 长春理工大学 | A digital positioning system and method for large-scale equipment manufacturing engineering system parts |
| CN107121068B (en) * | 2017-05-12 | 2019-10-25 | 长春理工大学 | Digital positioning system and method for large equipment manufacturing engineering system part |
| CN108908368A (en) * | 2018-08-03 | 2018-11-30 | 广汽丰田汽车有限公司 | It is a kind of to beat electrostatic spike devices, material processing system to be sprayed and method automatically |
| CN114353693A (en) * | 2021-12-28 | 2022-04-15 | 中国航空工业集团公司北京长城航空测控技术研究所 | Handheld vector rod special for large-scale three-dimensional space overall measurement positioning instrument |
| CN114353693B (en) * | 2021-12-28 | 2023-11-28 | 中国航空工业集团公司北京长城航空测控技术研究所 | Special handheld vector lever for large-scale three-dimensional space integral measurement positioning instrument |
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Application publication date: 20141203 |