CN104626208A - Establishing and interference early warning method for auxiliary assembly safety working space of spacecraft mechanical arm - Google Patents
Establishing and interference early warning method for auxiliary assembly safety working space of spacecraft mechanical arm Download PDFInfo
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- CN104626208A CN104626208A CN201510005945.7A CN201510005945A CN104626208A CN 104626208 A CN104626208 A CN 104626208A CN 201510005945 A CN201510005945 A CN 201510005945A CN 104626208 A CN104626208 A CN 104626208A
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Abstract
The invention discloses an establishing and interference early warning method for an auxiliary assembly safety working space of a spacecraft mechanical arm. The method comprises the steps that three-dimensional models of the mechanical arm, a product to be assembled and other related objects in the working environment are led in the virtual environment of a control system, wherein the three-dimensional models are consistent with material objects in boundary dimension; the relative position and the relative posture of the mechanical arm and the product to be assembled are measured in practical, and the relative position and the relative posture of the mechanical arm and the product to be assembled in the virtual environment are correspondingly set according to the measurement value, and the relative position and the relative posture of the mechanical arm and the product to be assembled in the virtual environment are made to be consistent with the actual measurement result; the control system monitors the movement state of the mechanical arm in real time, the mechanical arm tracks and reflects the movement of a real mechanical arm in real time in the virtual environment, and whether the mechanical arm and the attached objects of the mechanical arm reach the boundary of the safety working space or not is judged through interference checking via the three-dimensional models in the virtual environment.
Description
Technical field
The invention belongs to mechanical arm control technology field, be specifically related to a kind of spacecraft mechanical arm auxiliary assembling trouble free service space and set up and interfere method for early warning.
Background technology
Mechanical arm has to imitate human arm function and the automatic control equipment that can complete various operation, has multi-joint to link, can accept instruction also the point accurately navigated in three dimensions or two dimensional surface carry out operation.Mechanical arm bearing capacity is large, good rigidly, according to the instruction campaign received, does not usually possess Sensitive Detection and response and extraneous ability of colliding.In existing machinery arm product, usually adopt joint motor current detecting mechanical arm and extraneous collision, when current value is higher than the threshold value set, mechanical arm stop motion.
Spacecraft development is generally single and mini-batch production, and compared with industrial products in enormous quantities, assembling operating mode is not fixed, and changes various.Application machine arm carries out spacecraft assembling, is difficult to adopt the fully automatic working mode in typical products in mass production streamline, needs mechanical arm to coordinate assembly manipulation with operator, needs the action of operator's Non-follow control mechanical arm in some links.The mode of operation of people's controller mechanical arm has sufficient flexibility, be applicable to spacecraft and change various operating mode, but the risk that this mode too increases interference while increasing flexibility, collision occurs, operator is difficult to the moment and observes every nook and cranny in working environment, react not in time when interfering and occurring, bring damage by the product be assembled.The current of electric measuring ability that mechanical arm product is had by oneself can protect the motor of mechanical arm body, structure etc. injury-free; but its sensitivity level is not enough to ensure by the safety of operated products; when current protection action, the power that mechanical arm tail end produces has been enough to damage product.Therefore, in the spacecraft assembling application of mechanical arm, how making automatic early-warning to interference, ensure product safety, is the major issue needing to solve.
The present invention proposes a kind of spacecraft mechanical arm auxiliary assembling trouble free service space and sets up and interfere method for early warning, according to boundary conditions such as mechanical arm and assembled product models under computer virtual three-dimensional environment, set up the trouble free service space of mechanical arm, when mechanical arm real work, the actual motion of the mechanical arm real-time tracking mechanical arm in virtual environment, and in real time and trouble free service space boundary carry out virtual interfere inspection, when virtual machine mechanical arm reaches trouble free service space boundary, system responds, realize interfering early warning, mechanical arm in reality is avoided to interfere collision, ensure the safety of product.
Summary of the invention
The object of the present invention is to provide a kind of spacecraft mechanical arm auxiliary assembling trouble free service space set up and interfere method for early warning, solution application machine arm carries out the interference early warning problem in space product assembling process, ensures the safety of spacecraft product.
The present invention is achieved through the following technical solutions:
Spacecraft mechanical arm auxiliary assembling trouble free service space is set up and interferes method for early warning, comprises the steps:
1) in the virtual environment of control system, the threedimensional model with the object correlation in the mechanical arm of physical form consistent size, product to be assembled and working environment is imported;
2) relative position of actual measurement mechanical arm and product to be assembled and relative attitude, and the relative position and the relative pose that arrange mechanical arm and product to be assembled in virtual environment according to measured value correspondence, make it consistent with actual measured results;
3) in virtual environment, determine the maximum boundary scope of manipulator motion, as the trouble free service space of mechanical arm, mechanical arm and subsidiary object thereof do not interfere with surrounding objects when this bounds is movable; The border in trouble free service space is determined according to the surface of mechanical arm surrounding objects in working environment, the principle determined be mechanical arm move in trouble free service space can complete carrying assembling action, can ensure again can not interfere with surrounding objects;
4) motion state of control system real time monitoring mechanical arm, by threedimensional model interference checking, the motion of the mechanical arm real-time tracking reflection real machine mechanical arm in virtual environment, judges whether mechanical arm and subsidiary object thereof reach trouble free service space boundary in virtual environment;
5) when interference checking judges to interfere, stop the ongoing motion of mechanical arm, realize anti-collision warning, in subsequent operation, control manipulator motion according to interference situation, make mechanical arm and subsidiary object thereof not exceed border, safe space further.
In technique scheme, described mechanical arm is in-line robot, usually has 6 frees degree, directly can adopt ripe industrial robot.
In technique scheme, the virtual environment of described control system is the three-dimensional visible environment run on computer.The threedimensional model of described mechanical arm, product to be assembled adopts designing a model of mechanical arm, product, if it is comparatively large with deviation in kind to design a model, is measured, re-establish threedimensional model according to measurement result by measurement means.
In technique scheme, the subsidiary object of described mechanical arm refers to and is arranged on mechanical arm body, the object moved with mechanical arm, as being installed on mechanical arm tail end for the fixture of holding workpiece, by the workpiece etc. clamped.
Technique scheme step 4) in, the motion of each shaft position data monitoring mechanical arm that control system is uploaded by mechanical arm, by the mechanical arm in each shaft position data-driven virtual environment of obtaining, make the motion of virtual mechanical arm real-time tracking reflection real machine mechanical arm.
Technique scheme step 4) in, described interference checking refer in virtual environment, judge different object geometrical model between whether there occurs and intersect overlapping, common interference checking method has bounding box detection method, surface intersection method etc.
In technique scheme, the border in trouble free service space is determined according to the surface of mechanical arm surrounding objects in working environment, the principle determined be mechanical arm move in trouble free service space can complete carrying assembling action, can ensure again can not interfere with surrounding objects.Consider model and deviation in kind, and the time delay that systems axiol-ogy controls, the border in trouble free service space can on the basis of body surface around, the distance that inside maintenance is suitable, when ensureing that in virtual environment, mechanical arm arrives trouble free service space boundary, in reality, mechanical arm does not interfere collision.
In technique scheme, when mechanical arm is close to trouble free service space boundary, suitably can reduce the movement velocity of mechanical arm according to degree of closeness.
Compared with prior art, the mechanical arm trouble free service space that the present invention proposes is set up and interference method for early warning can in the mechanical arm assembling of spacecraft, especially when mechanical arm Non-follow control, automatically mechanical arm is constrained in safe working range, ensure the safety of product; And utilize virtual supervision, the mode of interference checking retrains manipulator motion, be applicable to the operating mode of changeable complexity, more flexible compared to the application of hardware limit means, by setting up safe space under virtual environment, the motion state of real time monitoring mechanical arm also carries out interference checking, realize interfering early warning, ensure the safety of product.
Accompanying drawing explanation
Fig. 1 is that mechanical arm trouble free service space of the present invention is set up and interferes the structural representation in mechanical arm trouble free service space in method for early warning.
1-mechanical arm, 2-mechanical arm controller, 3-fixture, 4-workpiece, 5-cavity to be assembled, 6-computer, 7-computer display, 8-trouble free service space boundary.
Detailed description of the invention
Be further described mechanical arm trouble free service space of the present invention foundation and interference method for early warning below in conjunction with accompanying drawing, this explanation is only exemplary, is not intended to limit the scope of the invention.
As shown in Figure 1, mechanical arm 1 moves under the direct control of mechanical arm controller 2, and fixture 3 is arranged on the end of mechanical arm 1, and workpiece 4 is clamped by fixture 3, and the assigned address that mechanical arm 1 drives workpiece 4 to be transported to cavity 5 to be assembled assembles.Computer 6 is electrically connected with mechanical arm controller 2, the state parameter of manipulator motion is uploaded to computer 6 by mechanical arm controller 2, can carry out the foundation of trouble free service space and interference checking calculating by computer 6, computer 6 can send the motion of instruction controller mechanical arm to mechanical arm controller 2.Computer display 7 is for showing virtual three-dimensional environment and trouble free service space boundary 8.
First in the virtual environment of computer 6, import the threedimensional model of object correlation in the working environment such as mechanical arm 1, fixture 3, workpiece 4, cavity to be assembled 5 with physical form consistent size;
After mechanical arm 1 is fixing with the relative position of cavity 5 to be assembled, actual measurement mechanical arm 1 and the relative pose relation of cavity 5 to be assembled, adjust mechanical arm 1 and the position orientation relation of assembling cavity 5 in virtual environment, make it consistent with actual measured results;
The trouble free service space boundary 8 that mechanical arm 1 moves is determined in the virtual environment of computer 6, trouble free service space boundary 8 is determined according to the inner surface of cavity 5 to be assembled, the principle determined be mechanical arm 1 move in trouble free service space boundary 8 can complete carrying assembling action, can ensure again can not interfere with cavity 5 to be assembled.Consider model and deviation in kind, and the time delay that systems axiol-ogy controls, trouble free service space boundary 8 is on the basis of cavity 5 inner surface to be assembled, the distance that inside maintenance is suitable, when ensureing that in virtual environment, mechanical arm 1 arrives trouble free service space boundary 8, in reality, mechanical arm 1 does not interfere collision.
The motion state parameters of the mechanical arm 1 that computer 6 real-time reception mechanical arm controller 2 is uploaded, the motion of the mechanical arm 1 real-time tracking reflection real machine mechanical arm 1 in virtual environment, by threedimensional model interference checking, computer 6 judges whether mechanical arm 1, fixture 3, workpiece 4 etc. reach trouble free service space boundary 8 in virtual environment.When interference checking judges to interfere, stop the ongoing motion of mechanical arm 1, realize anti-collision warning, instruction is sent according to interference situation to mechanical arm controller 2 at subsequent operation Computer 6, participate in the motion of controller mechanical arm, make machine mechanical arm 1, fixture 3, workpiece 4 not exceed trouble free service space boundary 8 further.
Although give detailed description and explanation to the specific embodiment of the present invention above; but what should indicate is; we can carry out various equivalence according to conception of the present invention to above-mentioned embodiment and change and amendment; its function produced do not exceed that description and accompanying drawing contain yet spiritual time, all should within protection scope of the present invention.
Claims (9)
1. spacecraft mechanical arm auxiliary assembling trouble free service space is set up and is interfered method for early warning, comprises the steps:
1) in the virtual environment of control system, the threedimensional model with other object correlations in the mechanical arm of physical form consistent size, product to be assembled and working environment is imported;
2) relative position of actual measurement mechanical arm and product to be assembled and relative attitude, and the relative position and the relative pose that arrange mechanical arm and product to be assembled in virtual environment according to measured value correspondence, make it consistent with actual measured results;
3) in virtual environment, determine the maximum boundary scope of manipulator motion, as the trouble free service space of mechanical arm, mechanical arm and subsidiary object thereof do not interfere with surrounding objects when this bounds is movable; The border in trouble free service space is determined according to the surface of mechanical arm surrounding objects in working environment, the principle determined be mechanical arm move in trouble free service space can complete carrying assembling action, can ensure again can not interfere with surrounding objects;
4) motion state of control system real time monitoring mechanical arm, by threedimensional model interference checking, the motion of the mechanical arm real-time tracking reflection real machine mechanical arm in virtual environment, judges whether mechanical arm and subsidiary object thereof reach trouble free service space boundary in virtual environment;
5) when interference checking judges to interfere, stop the ongoing motion of mechanical arm, realize anti-collision warning, in subsequent operation, control manipulator motion according to interference situation, make mechanical arm and subsidiary object thereof not exceed border, safe space further.
2. spacecraft mechanical arm as claimed in claim 1 auxiliary assembling trouble free service space is set up and interferes method for early warning, and wherein, described mechanical arm is in-line robot, usually has 6 frees degree, directly can adopt ripe industrial robot.
3. spacecraft mechanical arm as claimed in claim 1 auxiliary assembling trouble free service space is set up and interferes method for early warning, and wherein, the virtual environment of described control system is the three-dimensional visible environment run on computer.The threedimensional model of described mechanical arm, product to be assembled adopts designing a model of mechanical arm, product, if it is comparatively large with deviation in kind to design a model, is measured, re-establish threedimensional model according to measurement result by measurement means.
4. spacecraft mechanical arm as claimed in claim 1 auxiliary assembling trouble free service space is set up and interferes method for early warning, wherein, the subsidiary object of described mechanical arm refers to and is arranged on mechanical arm body, with the object that mechanical arm moves, as being installed on mechanical arm tail end for the fixture of holding workpiece, by the workpiece etc. clamped.
5. the auxiliary assembling of the spacecraft mechanical arm as described in any one of claim 1-4 trouble free service space is set up and interferes method for early warning, wherein, the motion of each shaft position data monitoring mechanical arm that control system is uploaded by mechanical arm, by the mechanical arm in each shaft position data-driven virtual environment of obtaining, make the motion of virtual mechanical arm real-time tracking reflection real machine mechanical arm.
6. the auxiliary assembling of the spacecraft mechanical arm as described in any one of claim 1-4 trouble free service space is set up and interferes method for early warning, wherein, described interference checking refer in virtual environment, judge different object geometrical model between whether there occurs intersect overlapping.
7. spacecraft mechanical arm as claimed in claim 6 auxiliary assembling trouble free service space is set up and interferes method for early warning, and wherein the method for interference checking comprises bounding box detection method and surface intersection method.
8. the auxiliary assembling of the spacecraft mechanical arm as described in any one of claim 1-4 trouble free service space is set up and interferes method for early warning, wherein, the border in trouble free service space is determined according to the surface of mechanical arm surrounding objects in working environment, the principle determined be mechanical arm move in trouble free service space can complete carrying assembling action, can ensure again can not interfere with surrounding objects.Consider model and deviation in kind, and the time delay that systems axiol-ogy controls, the border in trouble free service space can on the basis of body surface around, the distance that inside maintenance is suitable, when ensureing that in virtual environment, mechanical arm arrives trouble free service space boundary, in reality, mechanical arm does not interfere collision.
9. the auxiliary assembling of the spacecraft mechanical arm as described in any one of claim 1-4 trouble free service space is set up and interferes method for early warning, wherein, when mechanical arm is close to trouble free service space boundary, suitably can reduce the movement velocity of mechanical arm according to degree of closeness.
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107921564A (en) * | 2015-08-03 | 2018-04-17 | 空间制造公司 | Manufacture and assembling of the spacecraft device in space, and technology |
| CN108115689A (en) * | 2017-12-31 | 2018-06-05 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of Dexterity analysis of robot method |
| CN108145702A (en) * | 2016-12-06 | 2018-06-12 | 韩华泰科株式会社 | For the method for setting the equipment of boundary face and setting boundary face |
| CN108367441A (en) * | 2015-12-01 | 2018-08-03 | 川崎重工业株式会社 | The monitoring arrangement of robot system |
| CN108582068A (en) * | 2018-03-27 | 2018-09-28 | 温州大学 | A method of to breaker put together machines people carry out virtual emulation |
| CN109285173A (en) * | 2018-12-24 | 2019-01-29 | 常州节卡智能装备有限公司 | A kind of safety protecting method, device and computer equipment |
| CN109483526A (en) * | 2017-09-13 | 2019-03-19 | 北京猎户星空科技有限公司 | The control method and system of mechanical arm under virtual environment and true environment |
| CN110000812A (en) * | 2019-03-21 | 2019-07-12 | 深圳点猫科技有限公司 | A kind of object collision checking method and its system for robot |
| CN110308667A (en) * | 2019-05-16 | 2019-10-08 | 广州明珞汽车装备有限公司 | A kind of method, system, device and the storage medium of automatic setting interference checking |
| CN110914019A (en) * | 2017-08-02 | 2020-03-24 | Abb瑞士股份有限公司 | Robot stopping distance simulation method |
| CN111880570A (en) * | 2015-12-01 | 2020-11-03 | 深圳市大疆创新科技有限公司 | Aircraft and evasion control system and method thereof |
| CN112041128A (en) * | 2018-04-27 | 2020-12-04 | 川崎重工业株式会社 | Robot teaching method and robot teaching system |
| CN112338920A (en) * | 2020-11-04 | 2021-02-09 | 中国联合网络通信集团有限公司 | Data processing method, device and equipment |
| CN113001142A (en) * | 2021-03-18 | 2021-06-22 | 北京空间机电研究所 | Automatic double-mechanical-arm assembling system for large-scale block optical assembly |
| CN113059558A (en) * | 2020-01-02 | 2021-07-02 | 京东方科技集团股份有限公司 | Control method and terminal of medical mechanical arm and readable medium |
| CN113487655A (en) * | 2021-09-07 | 2021-10-08 | 成都博恩思医学机器人有限公司 | Indoor model generation method, electronic equipment and storage medium |
| CN113557108A (en) * | 2019-03-28 | 2021-10-26 | 欧姆龙株式会社 | Control system, control method, and control unit |
| CN114905520A (en) * | 2022-06-28 | 2022-08-16 | 中国华能集团清洁能源技术研究院有限公司 | Safety limiting method, device, equipment and storage medium for double-arm cooperative robot |
| CN116531021A (en) * | 2023-07-03 | 2023-08-04 | 深圳华大智造云影医疗科技有限公司 | Detection control method and device for ultrasonic robot, electronic equipment and storage medium |
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| CN107921564B (en) * | 2015-08-03 | 2021-01-29 | 空间制造公司 | Manufacture and assembly of spacecraft devices in space |
| CN107921564A (en) * | 2015-08-03 | 2018-04-17 | 空间制造公司 | Manufacture and assembling of the spacecraft device in space, and technology |
| CN108367441A (en) * | 2015-12-01 | 2018-08-03 | 川崎重工业株式会社 | The monitoring arrangement of robot system |
| CN111880570A (en) * | 2015-12-01 | 2020-11-03 | 深圳市大疆创新科技有限公司 | Aircraft and evasion control system and method thereof |
| CN108145702A (en) * | 2016-12-06 | 2018-06-12 | 韩华泰科株式会社 | For the method for setting the equipment of boundary face and setting boundary face |
| CN110914019A (en) * | 2017-08-02 | 2020-03-24 | Abb瑞士股份有限公司 | Robot stopping distance simulation method |
| CN110914019B (en) * | 2017-08-02 | 2023-12-08 | Abb瑞士股份有限公司 | Robot stopping distance simulation method |
| CN109483526A (en) * | 2017-09-13 | 2019-03-19 | 北京猎户星空科技有限公司 | The control method and system of mechanical arm under virtual environment and true environment |
| CN108115689A (en) * | 2017-12-31 | 2018-06-05 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of Dexterity analysis of robot method |
| CN108582068B (en) * | 2018-03-27 | 2021-07-06 | 温州大学 | Method for performing virtual simulation on circuit breaker assembly robot |
| CN108582068A (en) * | 2018-03-27 | 2018-09-28 | 温州大学 | A method of to breaker put together machines people carry out virtual emulation |
| CN112041128B (en) * | 2018-04-27 | 2024-02-27 | 川崎重工业株式会社 | Teaching method of robot and teaching system of robot |
| CN112041128A (en) * | 2018-04-27 | 2020-12-04 | 川崎重工业株式会社 | Robot teaching method and robot teaching system |
| CN109285173A (en) * | 2018-12-24 | 2019-01-29 | 常州节卡智能装备有限公司 | A kind of safety protecting method, device and computer equipment |
| CN110000812A (en) * | 2019-03-21 | 2019-07-12 | 深圳点猫科技有限公司 | A kind of object collision checking method and its system for robot |
| CN113557108A (en) * | 2019-03-28 | 2021-10-26 | 欧姆龙株式会社 | Control system, control method, and control unit |
| CN110308667A (en) * | 2019-05-16 | 2019-10-08 | 广州明珞汽车装备有限公司 | A kind of method, system, device and the storage medium of automatic setting interference checking |
| CN113059558A (en) * | 2020-01-02 | 2021-07-02 | 京东方科技集团股份有限公司 | Control method and terminal of medical mechanical arm and readable medium |
| CN112338920B (en) * | 2020-11-04 | 2022-04-15 | 中国联合网络通信集团有限公司 | Data processing method, device and equipment |
| CN112338920A (en) * | 2020-11-04 | 2021-02-09 | 中国联合网络通信集团有限公司 | Data processing method, device and equipment |
| CN113001142A (en) * | 2021-03-18 | 2021-06-22 | 北京空间机电研究所 | Automatic double-mechanical-arm assembling system for large-scale block optical assembly |
| CN113487655B (en) * | 2021-09-07 | 2022-03-01 | 成都博恩思医学机器人有限公司 | Indoor model generation method, electronic equipment and storage medium |
| CN113487655A (en) * | 2021-09-07 | 2021-10-08 | 成都博恩思医学机器人有限公司 | Indoor model generation method, electronic equipment and storage medium |
| CN114905520A (en) * | 2022-06-28 | 2022-08-16 | 中国华能集团清洁能源技术研究院有限公司 | Safety limiting method, device, equipment and storage medium for double-arm cooperative robot |
| CN114905520B (en) * | 2022-06-28 | 2023-11-24 | 中国华能集团清洁能源技术研究院有限公司 | Safety limit method, device, equipment and storage medium for double-arm cooperative robot |
| CN116531021A (en) * | 2023-07-03 | 2023-08-04 | 深圳华大智造云影医疗科技有限公司 | Detection control method and device for ultrasonic robot, electronic equipment and storage medium |
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