CN104589357B - The DELTA robot control system of view-based access control model tracking and method - Google Patents

The DELTA robot control system of view-based access control model tracking and method Download PDF

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Publication number
CN104589357B
CN104589357B CN201410720552.XA CN201410720552A CN104589357B CN 104589357 B CN104589357 B CN 104589357B CN 201410720552 A CN201410720552 A CN 201410720552A CN 104589357 B CN104589357 B CN 104589357B
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China
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servo
control
motion controller
delta robot
driver
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CN201410720552.XA
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Chinese (zh)
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CN104589357A (en
Inventor
刘远强
尹立龙
李明明
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佛山市万世德机器人技术有限公司
广州市万世德智能装备科技有限公司
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Priority to CN201410720552.XA priority Critical patent/CN104589357B/en
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Abstract

The invention discloses DELTA robot control system and method that view-based access control model is followed the tracks of, servo-driver and motion controller in system are connected by serial bus, the method utilizes the servo-driver of series connection to realize mending-leakage distribution, odd even distribution and the method for classification distribution, and furthermore achieved that the optimization of robot motion's track.Present system achieves the cooperation control system of double DELTA robot, improves the versatility of system, arranges simply, is easy to debugging.The inventive method realizes multiple Collaborative Control mode based on double DELTA robots, it is adaptable to different working environments, and it is low that versatility height and leakage pick rate;By movement locus optimization, the speed of robot sorting destination object and accuracy are improved further simultaneously, improve its operating efficiency.DELTA robot control system and method that the present invention follows the tracks of as view-based access control model can be widely applied to industrial robot field.

Description

The DELTA robot control system of view-based access control model tracking and method

Technical field

The present invention relates to industrial robot field, be based especially on DELTA robot control system and side that vision is followed the tracks of Method.

Background technology

DELTA robot is the one of parallel robot, and DELTA robot drives 3 parallel four limits by outer revolute pair Shape side chain, adds a middle rotating driveshaft, can realize the space four-dimensional movement of its end effector, configure vision system After, extensively apply in the sorting of electronics, light industry, food and medicine and other fields is packed.

The control system of DELTA robot of each producer the most existing is to use the special purpose robot's controller of himself The robot control system built, the control system system versatility of this employing nonshared control unit is bad.General DELTA Robot control system is followed the tracks of system by controller, servo-drive system, Visual Tracking System and conveyer belt and is formed, but it controls The Topology connection mode of each parts of system varies, and its internal core control algolithm and track algorithm are also different, Therefore versatility is the highest.Fairly simple tracking system is to use photoelectric sensor and encoder to be tracked, and complicated one A little tracking systems is then to use vision system, photoelectric sensor and encoder to be tracked.In terms of trajectory planning, each The trajectory planning mode of producer of robot is the most different.

Summary of the invention

In order to solve above-mentioned technical problem, it is an object of the invention to: provide a kind of view-based access control model to follow the tracks of the versatility realized High, arrange simple, debug convenient DELTA robot control system.

In order to solve above-mentioned technical problem, it is another object of the present invention to: provide a kind of view-based access control model to follow the tracks of and realize quickly Accurately sorting destination object DELTA robot control method.

The technical solution adopted in the present invention is: the DELTA robot control system that view-based access control model is followed the tracks of, and includes motion Controller, vision system, conveyer belt encoder and Liang Tai DELTA robot, described two DELTA machines include four per capita Servo-driver and four drive shafts, every drive shaft is controlled by a servo-driver;Above-mentioned all servo-driver strings Connection connects, and is connected with motion controller by first servo-driver;Described vision system and conveyer belt encoder all with fortune Movement controller connects.

Further, between described servo-driver, EtherCAT bus between servo starter and motion controller, is passed through Series connection.

Of the present invention another solution is that what a kind of view-based access control model applying above-mentioned control system was followed the tracks of DELTA robot control method, comprises the following steps:

A1, motion controller control the First DELTA robot in Liang Tai DELTA robot to the material on conveyer belt Quickly capture;

A2, the data gathered according to vision system and conveyer belt encoder, calculate material data transmission extremely fortune that leakage is grabbed Movement controller;

A3, described motion controller control second DELTA robot according to the material data that leakage is grabbed and carry out grasping manipulation.

Further, comprise the following steps:

B1, vision system are numbered capturing object according to the data gathered;

B2, to capture object numbering carry out odd even judgement and by gather data send to motion controller;

B3, motion controller will be deemed as the data capturing object of odd-numbered and send to First DELTA robot And controller carries out grasping manipulation;Motion controller will be deemed as the data capturing object of even-numbered and sends to second DELTA robot also controls it and carries out grasping manipulation.

Further, comprise the following steps:

The attribute capturing object is classified by C1, vision system according to the data gathered;

C2, according to classification results by gather capture object data send to motion controller;

The data of collection are respectively sent to First according to the classification of the attribute capturing object by C3, motion controller DELTA robot and second DELTA robot also control it and carry out grasping manipulation.

Further, the grasping manipulation of described DELTA robot includes following steps:

S1, the crawl point position obtaining crawl object and set-point position;

S2, by capture some position and set-point position be converted into the position coordinates under the same coordinate system;

Height parameter and above-mentioned position coordinates that S3, basis are given calculate arching trajectory;

S4, motion controller control DELTA robot and carry out grasping manipulation according to above-mentioned calculated arching trajectory.

Further, described step S3 particularly as follows:

The position coordinates of S31, the position coordinates according to height parameter, capturing some position and set-point position calculates curved track The vertex position coordinate of mark, described summit and position coordinates be respectively positioned on in the plane of coordinate system horizontal plane, described summit With the value that position coordinates distance in vertical direction is height parameter;

S32, the position coordinates according to summit, the position coordinates capturing some position and the position coordinates calculating of set-point position Arching trajectory by above three coordinate.

The invention has the beneficial effects as follows: present system achieves the cooperation control system of double DELTA robot, improves The versatility of system;In system, conveyer belt encoder data is directly accessed motion controller, and vision system uses camera automatically to touch Send out mode carry out processs of taking pictures, between servo-driver be by bus series connection communicate with data transmission and with motion Controller communicates and transmits with data, and therefore it arranges simply, is easy to debugging.

Another of the present invention provides the benefit that: the inventive method realizes multiple Collaborative Control side based on double DELTA robots Formula, it is adaptable to different working environments, it is low that versatility height and leakage pick rate;By movement locus optimization, robot is sorted simultaneously Speed and the accuracy of destination object improve further, improve its operating efficiency.

Accompanying drawing explanation

Fig. 1 is the structured flowchart of present system;

Fig. 2 is the mending-leakage allocation step flow chart of the inventive method;

Fig. 3 is the odd even allocation step flow chart of the inventive method;

Fig. 4 is the classification allocation step flow chart of the inventive method;

Fig. 5 is the moving track calculation flow chart of steps of the inventive method;

Fig. 6 is the moving track calculation schematic diagram of the inventive method.

Detailed description of the invention

Below in conjunction with the accompanying drawings the detailed description of the invention of the present invention is described further:

With reference to Fig. 1, the DELTA robot control system that view-based access control model is followed the tracks of, include motion controller, vision system, Conveyer belt encoder and Liang Tai DELTA robot, described two DELTA machines include four servo-drivers and four per capita Drive shaft, every drive shaft is controlled by a servo-driver;Above-mentioned all servo-drivers are connected in series, and by first Servo-driver is connected with motion controller;Described vision system and conveyer belt encoder are all connected with motion controller.

Native system specifically can use based on Sanmotion motion controller and the servo drive system of SANYO DENKI Realizing, a Sanmotion motion controller Dai Liangtai DELTA robot, there are four drive shafts in Mei Tai DELTA robot, and Liang Tai DELTA robot shares the position data of a vision system.DELTA robot according to the position data of vision system and Carry data with encoder to determine its crawl position.For the General System of prior art, it is by conveyer belt encoder number According to accessing vision system, vision system then carries out taking pictures according to conveying data with encoder and obtains the coordinate of destination object Value, in the present invention, conveyer belt encoder data is directly accessed motion controller, and vision system uses the side that camera triggers automatically Formula carries out process of taking pictures.

Be further used as preferred embodiment, between described servo-driver, servo starter and motion controller it Between connected by EtherCAT bus.

With reference to Fig. 2, the DELTA robot control method that a kind of view-based access control model applying above-mentioned control system is followed the tracks of, use The method for allocating tasks of mending-leakage distribution, comprises the following steps:

A1, motion controller control the First DELTA robot in Liang Tai DELTA robot to the material on conveyer belt Quickly capture;

A2, the data gathered according to vision system and conveyer belt encoder, calculate material data transmission extremely fortune that leakage is grabbed Movement controller;

A3, described motion controller control second DELTA robot according to the material data that leakage is grabbed and carry out grasping manipulation.

The core of mending-leakage allocation algorithm is to be leaked First DELTA robot to grab target location and be sent to second DELTA robot, is then captured by second DELTA robot.

The target captured for vision system is sent to the destination object cache list (BUFFER LIST) of robot In, it is after computing, and with reference to following code segment, the state of destination object has following 12 kinds:

TYPE TRCTR_ObjectState :

eRCTR_ObjectStateUnknown:= 0,

eRCTR_ObjectStateFinished:=1,

eRCTR_ObjectStateFailed:=2,

eRCTR_ObjectStateMissed:=3,

eRCTR_ObjectStateRejected:=4,

eRCTR_ObjectStateProcessed:=11,

eRCTR_ObjectStateFailure:=12,

eRCTR_ObjectStateLeftArea:=13,

eRCTR_ObjectStateUnprocessed:=14,

eRCTR_ObjectStateWaiting:=20,

eRCTR_ObjectStateActive:=21,

eRCTR_ObjectStateInRestrArea:=22

END_TYPE

Be chosen in the target cache of First DELTA robot be labeled as eRCTR_ObjectStateFailed and The target of eRCTR_ObjectStateMissed, sends it to second robot target caching, then by second machine Device people carries out mending-leakage crawl.

With reference to Fig. 3, the DELTA robot control method that a kind of view-based access control model applying above-mentioned control system is followed the tracks of, use The method for allocating tasks of odd even distribution, comprises the following steps:

B1, vision system are numbered capturing object according to the data gathered;

B2, to capture object numbering carry out odd even judgement and by gather data send to motion controller;

B3, motion controller will be deemed as the data capturing object of odd-numbered and send to First DELTA robot And controller carries out grasping manipulation;Motion controller will be deemed as the data capturing object of even-numbered and sends to second DELTA robot also controls it and carries out grasping manipulation.

It is that the destination object caught for vision system carries out counting numbering that odd even demarcates the core of the method for salary distribution, It is referred to as userId, such as userId in the TRCTR_Object structure in following code segment.

TYPE TRCTR_Object:

STRUCT

userId : DINT;

state : TRCTR_ObjectState;

detectionPos : DINT;

pos : TRCTR_CartFrame;

attribute : DWORD;

donePos : REAL;

logDate : DATE;

logTime : TOD;

workAreaReserve : REAL;

END_STRUCT

END_TYPE

Then the counting of userId is carried out odd even judgement, is sent to for the destination object data that userId is odd number One robot target buffer area, is captured by it;Second is sent to for the destination object data that userId is even number Robot target buffer area, is captured by it.

With reference to Fig. 4, the DELTA robot control method that a kind of view-based access control model applying above-mentioned control system is followed the tracks of, use The method for allocating tasks of classification distribution, comprises the following steps:

The attribute capturing object is classified by C1, vision system according to the data gathered;

C2, according to classification results by gather capture object data send to motion controller;

The data of collection are respectively sent to First according to the classification of the attribute capturing object by C3, motion controller DELTA robot and second DELTA robot also control it and carry out grasping manipulation.

The core concept of the attribute calibration method of salary distribution is exactly carried out attribute calibration by vision system, as in code segment above Attribute in TRCTR_Object structure.Then according to attribute, the destination object of different attribute is sent to difference The target cache district of robot, is captured by it.

When robot runs, the path interpolation mode of PTP and Lin of the prior art can not meet machine well The needs that people quickly runs, therefore further provide a kind of robot and move in curves the track optimizing algorithm in path.Its core is calculated Method is when robot motion, robot capture point with set-point between according to set height parameter h be robot rule Standardized bar arching trajectory.

With reference to Fig. 5, being further used as preferred embodiment, the grasping manipulation of described DELTA robot includes following Step:

S1, the crawl point position obtaining crawl object and set-point position;

S2, by capture some position and set-point position be converted into the position coordinates under the same coordinate system;

Height parameter and above-mentioned position coordinates that S3, basis are given calculate arching trajectory;

S4, motion controller control DELTA robot and carry out grasping manipulation according to above-mentioned calculated arching trajectory.

With reference to Fig. 6, be further used as preferred embodiment, described step S3 particularly as follows:

The position coordinates of S31, the position coordinates according to height parameter, capturing some position and set-point position calculates curved track The vertex position coordinate of mark, described summit and position coordinates be respectively positioned on in the plane of coordinate system horizontal plane, described summit With the value that position coordinates distance in vertical direction is height parameter;

S32, the position coordinates according to summit, the position coordinates capturing some position and the position coordinates calculating of set-point position Arching trajectory by above three coordinate.

It is the process of a dynamic calculation to the calculating of summit P in Fig. 6, first reads the position coordinate value capturing point PickPos, is transformed into the coordinate value under world coordinate system (WorldRef);Read the position PlacePos of set-point and then, Convert it to the coordinate value under world coordinate system (WorldRef);Because the two point is in solid space (OXYZ), it is to belong to In being perpendicular to that plane of horizontal plane, therefore, just can calculate according to assigned altitute parameter h be positioned at PickPos and Centre position MidPos between PlacePos, then utilize the Circ in TeachView to instruct according to the position of these three point Just cook up an arching trajectory.

It is above the preferably enforcement of the present invention is illustrated, but the invention is not limited to described enforcement Example, those of ordinary skill in the art can also make all equivalents on the premise of spirit of the present invention or replace Changing, deformation or the replacement of these equivalents are all contained in the application claim limited range.

Claims (5)

1. the DELTA robot control method that the view-based access control model of an application controls system is followed the tracks of, it is characterised in that: this control system System includes motion controller, vision system, conveyer belt encoder and Liang Tai DELTA robot, described Liang Tai DELTA robot All including four servo-drivers and four drive shafts, each drive shaft is controlled by a servo-driver;Above-mentioned all Servo-driver is connected in series, and is connected with motion controller by first servo-driver;Described vision system and conveyer belt Encoder is all connected with motion controller;Between described servo-driver, pass through between servo-driver and motion controller EtherCAT bus is connected;
The method comprises the following steps:
Material on conveyer belt is carried out by the First DELTA robot that A1, motion controller control in Liang Tai DELTA robot Quickly capture;
A2, the data gathered according to vision system and conveyer belt encoder, calculate and leak the material data grabbed and send to control of moving Device processed;
A3, described motion controller control second DELTA robot according to the material data that leakage is grabbed and carry out grasping manipulation.
2. the DELTA robot control method that the view-based access control model of an application controls system is followed the tracks of, it is characterised in that: this control system System includes motion controller, vision system, conveyer belt encoder and Liang Tai DELTA robot, described Liang Tai DELTA robot All including four servo-drivers and four drive shafts, every drive shaft is controlled by a servo-driver;Above-mentioned all Servo-driver is connected in series, and is connected with motion controller by first servo-driver;Described vision system and conveyer belt Encoder is all connected with motion controller;Between described servo-driver, pass through between servo-driver and motion controller EtherCAT bus is connected;
The method comprises the following steps:
B1, vision system are numbered capturing object according to the data gathered;
B2, to capture object numbering carry out odd even judgement and by gather data send to motion controller;
B3, motion controller will be deemed as the data capturing object of odd-numbered and send to First DELTA robot and control Device processed carries out grasping manipulation;Motion controller will be deemed as the data capturing object of even-numbered and sends to second DELTA Robot also controls it and carries out grasping manipulation.
3. the DELTA robot control method that the view-based access control model of an application controls system is followed the tracks of, it is characterised in that: this control system System includes motion controller, vision system, conveyer belt encoder and Liang Tai DELTA robot, described Liang Tai DELTA robot All including four servo-drivers and four drive shafts, every drive shaft is controlled by a servo-driver;Above-mentioned all Servo-driver is connected in series, and is connected with motion controller by first servo-driver;Described vision system and conveyer belt Encoder is all connected with motion controller;Between described servo-driver, pass through between servo-driver and motion controller EtherCAT bus is connected;
The method comprises the following steps:
The attribute capturing object is classified by C1, vision system according to the data gathered;
C2, according to classification results by gather capture object data send to motion controller;
The data of collection are respectively sent to First DELTA machine according to capturing the classification of attribute of object by C3, motion controller Device people and second DELTA robot also control it and carry out grasping manipulation.
4. the DELTA robot control method followed the tracks of according to the view-based access control model described in claim 1,2 or 3, it is characterised in that: institute State the grasping manipulation of DELTA robot and include following steps:
S1, the crawl point position obtaining crawl object and set-point position;
S2, by capture some position and set-point position be converted into the position coordinates under the same coordinate system;
Height parameter and above-mentioned position coordinates that S3, basis are given calculate arching trajectory;
S4, motion controller control DELTA robot and carry out grasping manipulation according to above-mentioned calculated arching trajectory.
The DELTA robot control method that view-based access control model the most according to claim 4 is followed the tracks of, it is characterised in that: described step Rapid S3 particularly as follows:
The position coordinates of S31, the position coordinates according to height parameter, capturing some position and set-point position calculates arching trajectory Vertex position coordinate, described summit and position coordinates be respectively positioned on in the plane of coordinate system horizontal plane, described summit and position Put coordinate distance in vertical direction and be the value of height parameter;
The position coordinates calculating of S32, the position coordinates according to summit, the position coordinates capturing some position and set-point position is passed through The arching trajectory of above three coordinate.
CN201410720552.XA 2014-12-01 2014-12-01 The DELTA robot control system of view-based access control model tracking and method CN104589357B (en)

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