CN104742127B - The control method and robot of a kind of robot - Google Patents
The control method and robot of a kind of robot Download PDFInfo
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- CN104742127B CN104742127B CN201510163464.9A CN201510163464A CN104742127B CN 104742127 B CN104742127 B CN 104742127B CN 201510163464 A CN201510163464 A CN 201510163464A CN 104742127 B CN104742127 B CN 104742127B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention provides a kind of control method of robot, comprise the following steps：The forward and inverse solution of S1, kinematics, obtains description of the mechanical arm tail end pose in world coordinate system；S2, posture information interpolation, plan the running orbit of mechanical arm tail end, realize that mechanical arm tail end completes preplanned mission in operating space according to the path planned；S3, joint space motion planning, using the running orbit of the formal constraint mechanical arm tail end of interpolation, realize accurate TRAJECTORY CONTROL.Present invention also offers a kind of robot being controlled using above-mentioned control method.The beneficial effects of the invention are as follows：The running orbit of mechanical arm tail end is effectively controlled, the control accuracy of mechanical arm tail end is improve.
Description
Technical field
The present invention relates to robot, more particularly to a kind of robot control method and robot.
Background technology
Industrial robot be collect the multidisciplinary advanced technology such as machinery, electronics, control, computer, sensor, artificial intelligence in
The important modern manufacturing industry automated arm of one.Abroad, Industrial Robot Technology reaches its maturity, and oneself marks through turning into a kind of
Quasi- equipment and obtain industrial quarters extensive use, so as to also form a collection of more influential in the world, well-known industrial machine
People company.At present, international industrial robot company is broadly divided into Japanese and Europe system.It is main in Japanese to have peace river, OTC, pine
Under, FANULC, it is only more, the product of the company such as Kawasaki.The main KU KA for having Germany, CLOOS, the ABB of Sweden, meaning in the system of Europe
The COMAU of big profit and the work IGM companies of Austria.
The industrial robot of China is started to walk since the eighties in 20th century, by the development of twenty or thirty year, there is very big
It is progressive, into 21 century, with the swift and violent growth of domestic robot demand, successively emerge Anhui Ai Fute, Nanjing Ai Sidun,
The Shanghai such as Anhui huge one, Guangzhou numerical control irrigate that enlightening, the soft control in Qingdao, handsome gram of Shandong, Guangzhou all ages moral etc. are a collection of to be engaged in industrial robot
The enterprise of production.There is family more than 200 in the company for specializing in Robot industry at present.Under the pulling of national economy rapid growth,
China's Industrial Robot Market accelerated since 2004, and average growth rate per annum is up to 40%, increased as global robot market
Most fast country.According to the statistics of international robot combined meeting, 2012, China's industrial robot newly installed 22987 (data
Do not include the production quantity of domestic manufacturers and Foxconn), Japan is only second to, come second.From 2006 to 2012, China
Industrial machine man-year installation increased 4 times, in world's industrial robot development history of 50 years, not have which National Industrial
Robot installation increases so fast.Expect 2016, the new installation of China's industrial robot is up to 38000.
There is following defect in existing robot：Path planning interpolation algorithm solves Motion trajectory of the robot in space
Problem, mainly using technologies such as linear interpolation, circular interpolation and curve interpolatings, basic ideas are in space to current planning algorithm
Mechanical arm tail end path is decomposed in coordinate system, forms desired path, be then controlled by controller.Its defect is
Operating path of the end between point is planned lacks constraint, causes the running orbit of this section to be difficult to control to
The content of the invention
In order to solve the problems of the prior art, the robot of control is easier to the invention provides a kind of running orbit
Control method and robot.
The invention provides a kind of control method of robot, comprise the following steps：
The forward and inverse solution of S1, kinematics, obtains description of the mechanical arm tail end pose in world coordinate system；
S2, posture information interpolation, plan mechanical arm tail end running orbit, realize mechanical arm tail end operating space according to
The path planned completes preplanned mission；
S3, joint space motion planning, using the running orbit of the formal constraint mechanical arm tail end of interpolation, realize accurate
TRAJECTORY CONTROL.
As a further improvement on the present invention, in step sl, using the inverse solution of method computational kinematics of geometrical analysis.
As a further improvement on the present invention, in step s 2, according to the speed of parameter setting, acceleration, to robotic arm
The motion that end moves to specified pose from current pose carries out interpolation.
As a further improvement on the present invention, in step s 2, pose letter is carried out using linear interpolation or circular interpolation
Breath interpolation.
As a further improvement on the present invention, in step s3, joint space motion planning refers to, when robotic arm end needs
Will from starting point terminating point is moved to arbitrary trajectory when, according to given parameters and each joint angles of starting point, terminating point, carry out
Joint space path planning, returns to each joint expected angle of subsequent time.
Present invention also offers a kind of robot being controlled using any one of above-mentioned control method, including six automatic
Degree mechanical arm, controller and teaching box, the controller are connected with described six automatic degree mechanical arms, teaching box respectively.
The beneficial effects of the invention are as follows：By such scheme, the running orbit of mechanical arm tail end is effectively controlled, improve
The control accuracy of mechanical arm tail end.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram of robot of the invention；
Fig. 2 is that a kind of method of the use geometrical analysis of the control method of robot of the invention calculates its inverse principle for solving
Figure.
Specific embodiment
The present invention is further described for explanation and specific embodiment below in conjunction with the accompanying drawings.
A kind of control method of robot, comprises the following steps：
The forward and inverse solution of S1, kinematics, obtains description of the mechanical arm tail end pose in world coordinate system；
S2, posture information interpolation, plan mechanical arm tail end running orbit, realize mechanical arm tail end operating space according to
The path planned completes preplanned mission；
S3, joint space motion planning, using the running orbit of the formal constraint mechanical arm tail end of interpolation, realize accurate
TRAJECTORY CONTROL.
Kinematics just/inverse solution, forward kinematics solution refers to the angle according to each joint, and corresponding mechanical arm end is calculated in real time
Description of the end pose in world coordinate system.In contrast, Inverse Kinematics Solution refers to be sat in the world according to mechanical arm tail end pose
Description in mark system calculates the angle in each joint.Current forward kinematics solution is mainly transported using the method for homogeneous transformation
Calculate, conventional method is D-H methods, and the method can provide the normal solution of motion.Comparatively speaking Inverse Kinematics Solution then seems
It is more complicated, it is also the focus of numerous researchs, its inverse solution is calculated using the method for geometrical analysis in the present invention, as shown in Fig. 2
Its realization principle is as follows:
According to coordinate system is built, if base origin of coordinate (X0, Y0, Z0), the vector P of three joint intersection points is defined as after sensing
P=P6-d6*a (8)
Wherein P6 is the 6th coordinate of coordinate origin, and d6 is DH parameters, and a is in transformation matrix of coordinates T6 (nsa)
Row.
Vector P is projected to X1Y1 planes.Obtain the equation of J1
The solution of J1 can be obtained, it has two solutions：J1=alpha+betas；J1=alpha-betas (9)
Vector P is projected to X2Y2 planes.Obtain the equation of J2
There are two solutions in J2：J2=alpha+betas；J2=alpha-betas (10)
Vector P is projected to X3Y3 planes.Obtain the equation of J3
J3 has two solutions J3=alpha-beta J3=alpha-betas (11)
According to first three joint angle, the value in joint 4 is resolved.(X4, y4, Z4) projection, to X3Y3 planes, can be obtained：
SinJ4=-aX3
CosJ4=aY3
Wherein, X3, Y3 are the first two columnss of spin matrix T3；
Solve：
The solution in joint 5：
Coordinate system (X5, Y5, Z5) is projected to plane X4Z4, is obtained：
SinJ5=-aX4
CosJ5=aY4
Wherein, X4, Y5 are the first two columnss of spin matrix T5；
Solve：
Similarly, the coordinate system (X6, Y6, Z6) in joint 6 is projected to plane X5Y5 and is obtained：
SinJ6=nY6
CosJ6=sY6
Pose interpolation purpose is the running orbit of planning robot end, realizes mechanical arm tail end in operating space according to rule
The path for pulling completes preplanned mission, and its method is speed, the acceleration according to parameter setting, to robotic arm end from present bit
The motion that appearance moves to specified pose carries out interpolation, and high-precision path planning interpolation and control algolithm are the passes of robot control
Key
Mechanical arm system precision is main by depending on three aspects, i.e. machine error, planning error and control error,.Its
Middle planning error and control error are the key factors of influence system absolute error, and reducing the error can not only effectively improve system
Precision, can also improve the precision of mechanical arm tail end running orbit, be robot control key problem for planning error ask
Topic, the present invention proposes a kind of high-precision path planning interpolating method, and it is the motion planning based on absolute coordinate system description,
Using linear interpolation, circular interpolation, nurbs curve direct interpolation technology, its basic thought is to be based on sampling time synchronization interpolation,
When sampling time is sufficiently small, desired operating path can be approached with arbitrary accuracy, can effectively overcome traditional trajectory planning side
Method.
Existing commercialized joint of mechanical arm control method uses pid control algorithm mostly, and the advantage of the method is simple
It is general, but have the disadvantage that it is a kind of linear control method based on error feedback, it is this kind of to mechanical arm with nonlinear characteristic
For system, its control effect also has certain limitation.For this this project proposes a kind of Fractional Order PID control algolithm, its reason
It is fractional calculus by basis, although the invention of fractional calculus and classic calculus are almost simultaneously, but it really draws
Play the history that people pay attention to but there was only twenty or thirty year.Particularly in recent years, fractional calculus are theoretical in high-energy physics, and abnormality expands
Dissipate, the mechanics of materials, the field such as geophysics has obtained extremely successful application.Fractional calculus are compared to common calculus more
Tool is general, and its physical significance is also more deep, fractional calculus is introduced into PID control theory, to PID control inherently
One important development；Due to the unique advantage of fractional calculus, the various aspects of performance of PID control will certainly be improved, enriched
The content of PID control, effectively improves the control accuracy of mechanical arm system.
As shown in figure 1, present invention also offers a kind of robot for applying above-mentioned control method to be controlled, including：
Mechanical arm, the mechanical arm has six-freedom degree, is mechanical arm of typically connecting；
Controller；
Teaching box；
Control software, software is indispensable part in robot system, mainly realize motion planning, pose interpolation,
The function such as SERVO CONTROL and user interface, idiographic flow is as shown in Figure 2.Its kinematics function can be summarized as three parts：(a)
Kinematics just/inverse solution；The interpolation of (b) posture information；The motion planning of (c) joint space.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
Specific implementation of the invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should be all considered as belonging to of the invention
Protection domain.
Claims (4)
1. a kind of control method of robot, it is characterised in that comprise the following steps：
The forward and inverse solution of S1, kinematics, obtains description of the mechanical arm tail end pose in world coordinate system；
S2, posture information interpolation, plan the running orbit of mechanical arm tail end, realize mechanical arm tail end in operating space according to planning
Good path completes preplanned mission；
S3, joint space motion planning, using the running orbit of the formal constraint mechanical arm tail end of interpolation, realize accurate track
Control, joint space motion planning refers to, when robotic arm end needs to move to terminating point with arbitrary trajectory from starting point, root
According to given parameters and each joint angles of starting point, terminating point, joint space path planning is carried out, return to subsequent time each joint phase
Hope angle；
In step sl, using the inverse solution of method computational kinematics of geometrical analysis；
Coordinate system is set up, if base origin of coordinate X0, Y0, Z0, the vector P of three joint intersection points is defined as after sensing
P=P6-d6*a
Wherein P6 is the 6th coordinate of coordinate origin, and d6 is DH parameters, and a is the row in transformation matrix of coordinates T6 (nsa)；
Vector P is projected to X1Y1 planes, the equation of J1 is obtained
The solution of J1 can be obtained, it has two solutions：J1=alpha+betas；J1=alpha-betas,
Vector P is projected to X2Y2 planes, the equation of J2 is obtained
There are two solutions in J2：J2=alpha+betas；J2=alpha-betas,
Vector P is projected to X3Y3 planes, the equation of J3 is obtained
J3 has two solution J3=alpha-betas；J3=alpha-betas,
According to first three joint angle, the value in joint 4 is resolved, (X4, y4, Z4) projection, to X3Y3 planes, can be obtained：
Sin J4=-agX3
Cos J4=agY3
Wherein, X3, Y3 are the first two columnss of spin matrix T3；
Solve：
The solution in joint 5：
Coordinate system (X5, Y5, Z5) is projected to plane X4Z4, is obtained：
Sin J5=-agX4
Cos J5=agY4
Wherein, X4, Y5 are the first two columnss of spin matrix T5；
Solve：
Similarly, the coordinate system (X6, Y6, Z6) in joint 6 is projected to plane X5Y5 and is obtained：
Sin J6=ngY6
Cos J6=sgY6
2. the control method of robot according to claim 1, it is characterised in that：In step s 2, according to parameter setting
Speed, acceleration, interpolation is carried out to the motion that robotic arm end moves to specified pose from current pose.
3. the control method of robot according to claim 1, it is characterised in that：In step s 2, using linear interpolation,
Circular interpolation, nurbs curve direct interpolation carry out posture information interpolation.
4. a kind of use weighs 1 robot being controlled to any one of 3 control methods of power, it is characterised in that：It is automatic including six
Degree mechanical arm, controller and teaching box, the controller are connected with described six automatic degree mechanical arms, teaching box respectively.
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| CN105653460A (en) * | 2016-02-29 | 2016-06-08 | 东南大学 | Method and system for recording and playback of man-machine interface testing actions of touch screen product |
| CN105717869B (en) * | 2016-03-15 | 2018-05-29 | 珞石（北京）科技有限公司 | Industrial robot operating space path Mixed Circumscription method for solving |
| CN106950924B (en) * | 2017-04-19 | 2019-05-07 | 广州视源电子科技股份有限公司 | Robot arc motion control method and system |
| CN107168139A (en) * | 2017-06-30 | 2017-09-15 | 深圳市山龙智控有限公司 | Sheet material automatic loading/unloading method and device based on M codes |
| CN109129558A (en) * | 2017-11-22 | 2019-01-04 | 北京芯合科技有限公司 | A method of control mechanical arm tail end executes space curve movement |
| CN108555903B (en) * | 2017-12-30 | 2021-12-10 | 芜湖哈特机器人产业技术研究院有限公司 | Force control method for cleaning hydraulic mechanical arm |
| CN109048917B (en) * | 2018-09-12 | 2021-06-29 | 南方电网电力科技股份有限公司 | Robot automatic control method, device, equipment and computer readable storage medium |
| CN109352653B (en) * | 2018-11-15 | 2020-07-14 | 北京卫星制造厂有限公司 | Offline track planning system for cutting of mobile series-parallel robot |
| CN110193826B (en) * | 2019-02-22 | 2021-06-04 | 浙江树人学院（浙江树人大学） | Industrial robot trajectory tracking and motion planning method |
| CN110587596A (en) * | 2019-07-30 | 2019-12-20 | 武汉恒新动力科技有限公司 | Multi-axis configuration device remote control method and device, terminal equipment and storage medium |
| CN111702758A (en) * | 2020-06-09 | 2020-09-25 | 珠海格力智能装备有限公司 | Stacking robot |
| CN112549008B (en) * | 2020-12-11 | 2021-12-14 | 中国科学院沈阳自动化研究所 | Projection kinematics control method of large heavy-load mechanical arm |
| CN113031434B (en) * | 2021-02-03 | 2022-06-24 | 中国地质大学（武汉） | Fractional order self-adaptive control method and device for time-lag multi-flexible swing arm system |
| CN113274136B (en) * | 2021-05-17 | 2023-02-10 | 上海微创医疗机器人（集团）股份有限公司 | Pose adjusting method, surgical robot system, and storage medium |
| CN117617002B (en) * | 2024-01-04 | 2024-07-12 | 太原理工大学 | Method for automatically identifying tomatoes and intelligently harvesting tomatoes |
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Address after: Shenzhen City, Guangdong province Baoan District 518000 District 67 Liuxian road Gaoxinqi plant third floor BC Applicant after: Shan Long Science and Technology Ltd. of Shenzhen Address before: 518000 workshop No. 7, seven industrial road, Shekou, Guangdong, Shenzhen, Nanshan District Applicant before: Shan Long Science and Technology Ltd. of Shenzhen |
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Denomination of invention: Robot control method and robot Effective date of registration: 20190307 Granted publication date: 20170613 Pledgee: Shenzhen high tech investment and financing Company limited by guarantee Pledgor: Shenzhen City, long dragon wisdom Control Co., Ltd. Registration number: 2019990000189 |
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