CN104552299A - Robot off-line teaching device and compensation teaching method - Google Patents
Robot off-line teaching device and compensation teaching method Download PDFInfo
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- CN104552299A CN104552299A CN201410831373.3A CN201410831373A CN104552299A CN 104552299 A CN104552299 A CN 104552299A CN 201410831373 A CN201410831373 A CN 201410831373A CN 104552299 A CN104552299 A CN 104552299A
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Abstract
The invention relates to the field of a robot, and discloses an error compensation method of a robot off-line teaching device. According to the error compensation teaching method disclosed by the invention, by testing and analyzing the influence of system error of various teaching articulated arms on motion parameters and correcting the parameters of the various teaching articulated arms, accurate program control on a target robot is realized, and great flexibility is expressed; meanwhile, the teaching operation difficulty is reduced, the operation experience of a skilled worker can be deposited through a mechanical arm, and the skill level of the skilled worker can be achieved by the whole production line, so that tedious robot track correcting processes can be reduced, and the programming efficiency is greatly increased.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of robot off-line teaching device and compensate teaching method.
Background technology
At present, existing industrial robot programming mainly contains 3 kinds of forms: 1) On-line programming by demonstration: namely in robot site, is moved by working trajectory by operator's manual operation teach box guided robot terminal, and recorder person joint angle information, form program; During robot automatic operation, read by controller the positional information that stores and driven machine people repeats teaching time track and operation.2) robot off-line programming: utilize computer technology to set up the virtual environment of robot and work thereof, segregation reasons and programming are carried out to the task that robot will complete, and dynamic calculation emulation is carried out to the result of programming, finally form the working procedure met the demands and be transferred to robot control system again.3) Programming by Virtual Demonstration System: utilize computer technology directly to build virtual environment and virtual robot in a computer, robot mechanism, scene and constraints is introduced in virtual model, operator is under virtual environment, in virtual environment, Virtual Demonstration is carried out by the end effector of man-machine interface guided robot, produce robot manipulating task track, generate robot control program, and carry out corresponding simulation and optimization, send robot to and perform.Wherein, method 1) the most directly perceived, but teaching process need overcomes the gravity, joint resistance etc. of robot, and labour intensity is large, and sometimes limits by working environment, is difficult to applicable all working occasion.Method 3) build virtual work environment due to the needs energy that costs a lot of money, and it is convenient not as on-the-spot teaching to operate virtual robot on computers.Therefore 2) robot program's control method the most common is become.
But existing off-line programing teaching system is in teaching process, and because the non-deterministic factor such as self gravitation, vibration causes there is systematic error in unpowered teaching joint arm kinematic parameter, how to eliminate these systematic errors to affect unpowered teaching joint arm kinematic parameter, thus the control program generating target robot correct becomes one of unpowered teaching joint arm mass of system key index.
Summary of the invention
One object of the present invention is, provides a kind of and eliminates teaching joint arm system in teaching process by the robot off-line teaching device of itself error and compensation teaching method.
For achieving the above object, the present invention by the following technical solutions:
A kind of robot off-line teaching device, comprising: teaching joint arm, operates for demonstration robot;
Optical angle encoder, the angle information in the teaching joint arm that there is six degree of freedom for continuous acquisition each joint at the volley;
Slave computer, for storing trace generator computer-readable code and energy and host computer real-time communication;
Host computer, for sending fill order by computer-readable code to any robot.
A kind of robot off-line compensates teaching method, comprise above-mentioned robot off-line teaching device, adopt the teaching joint arm of six degree of freedom as teaching collecting unit, optical angle encoder is installed in each joint of teaching joint arm, each optical angle encoder independently and simultaneously can both complete the data acquisition of angle information, six axles of teaching joint arm are installed the absolute type encoder with broadcast capability, the generation movement locus of teaching is become coding and passes to slave computer, pass to host computer (computer) by slave computer again and carry out program optimization, final test qualified formation robot program.
Arrange a host computer and send broadcasting instructions to absolute type encoder, six absolute type encoders can receive this broadcasting instructions at the same time, then respective data are this moment recorded and feed back to host computer; And a STM mainboard read collecting unit one by one before or after host computer receives information from feedback to six absolute type encoders is set.
Further, described PC is host computer, and described STM mainboard is STM32F103xx enhancement mode series.
The beneficial effect that the present invention compared with prior art has is: can pass through the error of its system of testing and analysis own to the impact of kinematic parameter to various teaching joint arm, then by revising its parameter thus reaching the accurate programme-control of realize target robot, very large flexibility is embodied; Meanwhile, reduce teaching operation difficulty, the operating experience of skilled craftsman can be precipitated by mechanical arm, make whole production line reach the level of skill of skilled craftsman, to reduce the process that loaded down with trivial details robot trajectory revises, greatly improve programming efficiency.
Accompanying drawing explanation
Fig. 1 is robot off-line teaching device schematic diagram;
Detailed description of the invention
Technical scheme of the present invention is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.
As shown in Figure 1, the invention provides a kind of robot off-line teaching device, comprising: teaching joint arm, operate for demonstration robot; Optical angle encoder, the angle information in the teaching joint arm that there is six degree of freedom for continuous acquisition each joint at the volley; Slave computer, for storing trace generator computer-readable code and energy and host computer real-time communication; Host computer, for sending fill order by computer-readable code to any robot.
A kind of robot off-line compensates teaching method, comprise above-mentioned robot off-line teaching device, adopt the teaching joint arm of six degree of freedom as teaching collecting unit, optical angle encoder and data processing unit are installed in each joint of teaching joint arm, each unit independently and simultaneously can both complete the data acquisition of angle information, and six axles of teaching joint arm are installed the absolute type encoder with broadcast capability;
Arrange a host computer and send broadcasting instructions to absolute type encoder, six absolute type encoders can receive this broadcasting instructions at the same time, then respective data are this moment recorded and feed back to host computer; And a STM mainboard read collecting unit one by one before or after host computer receives information from feedback to six absolute type encoders is set.
Said method general principle major embodiment is:
1, the collector of the six degree of freedom joint arm system flexible, measurement category is large, collapsible, occupation of land space is little as artificial teaching movement locus that move is adopted.Robot is as actuator during work.Both in-line frame for movement, the source of its error is a lot, mainly can be summarized in following two large divisions: teaching joint arm acquisition trajectories error and manipulator For Path Regeneration error.
2, error evaluation method, registration when robot reproduction effects depends on teaching between pose and machine man-hour pose.That is joint arm teaching track and robot For Path Regeneration registration are the evaluation criterions of systematic error.Wherein track registration comprises two aspects: the attitude registration of position registration and correspondence position.Can represent the pose track of spray gun in a teaching glaze spraying process with formula 1, the pose track that manipulator reproduces spray gun in glaze spraying process can represent with formula 2.
In order to carry out error analysis, a simple and effective evaluation method is needed to carry out the size of assessment errors.For 6DOF joint arm system, the expression formula of position and attitude matrix is all the equation that the matrix multiple of six 4X4 gets.These expression formulas are very loaded down with trivial details, calculate also extremely inconvenient.And the pose directly measuring spray gun not easily realizes.The present invention adopts the position of the virtual point M along spray torch centre distance spray gun certain length to evaluate the position of spray gun and attitude.Because M position be the function of Burners Positions and attitude.During teaching, the position of M point can be expressed as formula 3, and during manipulator For Path Regeneration, the position of M point can be expressed as formula 4.
P'
teaching(t)=f (P
teaching(t), R
teaching(t))=[x
teaching(t), y
teaching(t), z
teaching(t)] (3)
P'
reproduce(t)=f (P
reproduce(t), R
reproduce(t))=[x
reproduce(t), y
reproduce(t), z
reproduce(t)] (4)
Can with the evaluation function of the range deviation of M point when the position of teaching t M point and reproduction glaze spraying as error.That is:
Range deviation e (t) is less, then during teaching, the pose of spray gun is less with the pose registration of spray gun when reproducing; Otherwise then registration is low.Adopt range deviation e (t) to evaluate the error simple, intuitive of teaching playback system, and be convenient to measure.
3, teaching joint arm pose Acquisition Error modeling and compensation, the analysis and summary source of teaching track acquisition system error, and the error model that teaching joint arm pose gathers based on DH method establishment.Adopt the method for numerical computations and graphical simulation, teaching joint arm error model is studied.Depict joint rotation angle, joint torsional angle and other linear dimensions deviations based on Matlab and affect distribution map when each joint turns on pose Acquisition Error.Propose a kind of teaching system error compensating method based on modified-immune algorithm.
First by the angle information in continuous acquisition joint arm each joint in glaze spraying process, then the position and attitude track of spray gun is calculated by forward kinematics solution, then industry mechanical arm kinematic parameter is obtained by computer calculate, be compiled into the movement code that industry mechanical arm can identify, send to manipulator control system finally by Ethernet.In order to realize said process, joint arm electric-control system is designed.
Further, described PC is host computer, and described STM mainboard is STM32F103xx enhancement mode series; All data acquisition units are by RS485 bus mode and the communication of control mainboard.Control the process of mainboard primary responsibility data and PC is issued in the data packing handled well, realizing the function of data acquisition.
Wherein, will ensure the synchronism of image data and actual act when teaching joint arm gathers spray gun pose and attitude, the data of collection must be 6 encoder data is gather at synchronization.And once to an access, the data of returning can only be gathered like this there is the time difference during access of main control computer to encoder.In order to reach synchronism, utilize the broadcast capability of this encoder: when main control computer sends out the broadcasting instructions of record data, six encoders can receive this broadcasting instructions at the same time, then respective data this moment recorded, STM mainboard then accesses the data reading record one by one to 6 encoders.
In order to realize the communication of STM32 mainboard and PC, need definition communications protocol between the two, both communications protocol are as shown in Table 1 and Table 2 herein:
Table 1 STM32 mainboard uploads PC data protocol
Table 2 PC sends data protocol
Below know-why of the present invention is described in conjunction with specific embodiments.These describe just in order to explain principle of the present invention, and can not be interpreted as limiting the scope of the invention by any way.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other detailed description of the invention of the present invention, and these modes all will fall within protection scope of the present invention.
Claims (3)
1. a robot off-line teaching device, comprising: teaching joint arm, operates for demonstration robot;
Optical angle encoder, the angle information in the teaching joint arm that there is six degree of freedom for continuous acquisition each joint at the volley;
Slave computer, for storing trace generator computer-readable code and energy and host computer real-time communication;
Host computer, for sending fill order by computer-readable code to any robot.
2. a robot off-line compensates teaching method, comprise the robot off-line teaching device described in the claims 1, it is characterized in that, adopt the teaching joint arm of six degree of freedom as teaching collecting unit, optical angle encoder is installed in each joint of teaching joint arm, each optical angle encoder independently and simultaneously can both complete the data acquisition of angle information, six axles of teaching joint arm are installed the absolute type encoder with broadcast capability, the generation movement locus of teaching is become coding and passes to slave computer, pass to host computer (computer) by slave computer again and carry out program optimization, final test qualified formation robot program.
Arrange a host computer and send broadcasting instructions to absolute type encoder, six absolute type encoders can receive described broadcasting instructions at the same time, then respective data are this moment recorded and feed back to host computer; And a STM mainboard read collecting unit one by one before or after host computer receives information from feedback to six absolute type encoders is set.
3. a kind of robot off-line according to claim 2 compensates teaching method, and it is characterized in that, described PC is host computer, and described STM mainboard is STM32F103xx enhancement mode series.
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| CN201410831373.3A CN104552299A (en) | 2014-12-26 | 2014-12-26 | Robot off-line teaching device and compensation teaching method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003067A (en) * | 2016-07-14 | 2016-10-12 | 东莞市李群自动化技术有限公司 | Industrial robot teaching method and teaching file manufacturing method and device |
| CN106041938A (en) * | 2016-08-16 | 2016-10-26 | 京磁材料科技股份有限公司 | Manipulator having imitating and repeating functions and control method of manipulator |
| CN106466846A (en) * | 2015-08-14 | 2017-03-01 | 成都卡诺普自动化控制技术有限公司 | Robot trajectory's monitor and track reproducing method |
| CN108469821A (en) * | 2018-03-23 | 2018-08-31 | 广东工业大学 | Spray robot track correct method, apparatus, equipment and readable storage medium storing program for executing |
| CN109227524A (en) * | 2018-10-31 | 2019-01-18 | 天津泰华易而速机器人科技有限公司 | A kind of unpowered arm multi-joint profiling teaching robot and teaching method |
| CN110142769A (en) * | 2019-04-11 | 2019-08-20 | 浙江工业大学 | The online mechanical arm teaching system of ROS platform based on human body attitude identification |
| CN112917457A (en) * | 2021-01-27 | 2021-06-08 | 南京航空航天大学 | Industrial robot rapid and accurate teaching system and method based on augmented reality technology |
| CN114161479A (en) * | 2021-12-24 | 2022-03-11 | 上海机器人产业技术研究院有限公司 | Robot dragging demonstration performance test system and test method |
-
2014
- 2014-12-26 CN CN201410831373.3A patent/CN104552299A/en not_active Withdrawn
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106466846A (en) * | 2015-08-14 | 2017-03-01 | 成都卡诺普自动化控制技术有限公司 | Robot trajectory's monitor and track reproducing method |
| CN106003067A (en) * | 2016-07-14 | 2016-10-12 | 东莞市李群自动化技术有限公司 | Industrial robot teaching method and teaching file manufacturing method and device |
| CN106041938A (en) * | 2016-08-16 | 2016-10-26 | 京磁材料科技股份有限公司 | Manipulator having imitating and repeating functions and control method of manipulator |
| CN108469821A (en) * | 2018-03-23 | 2018-08-31 | 广东工业大学 | Spray robot track correct method, apparatus, equipment and readable storage medium storing program for executing |
| CN108469821B (en) * | 2018-03-23 | 2021-03-30 | 广东工业大学 | Spraying robot track correction method, device and equipment and readable storage medium |
| CN109227524A (en) * | 2018-10-31 | 2019-01-18 | 天津泰华易而速机器人科技有限公司 | A kind of unpowered arm multi-joint profiling teaching robot and teaching method |
| CN110142769A (en) * | 2019-04-11 | 2019-08-20 | 浙江工业大学 | The online mechanical arm teaching system of ROS platform based on human body attitude identification |
| CN110142769B (en) * | 2019-04-11 | 2021-10-15 | 浙江工业大学 | ROS platform online mechanical arm demonstration system based on human body posture recognition |
| CN112917457A (en) * | 2021-01-27 | 2021-06-08 | 南京航空航天大学 | Industrial robot rapid and accurate teaching system and method based on augmented reality technology |
| CN114161479A (en) * | 2021-12-24 | 2022-03-11 | 上海机器人产业技术研究院有限公司 | Robot dragging demonstration performance test system and test method |
| CN114161479B (en) * | 2021-12-24 | 2023-10-20 | 上海机器人产业技术研究院有限公司 | Robot dragging teaching performance test system and test method |
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Application publication date: 20150429 |