CN104950799B - Welding robot Dynamic Closed Loop Control system and its real-time dynamic corrections algorithm - Google Patents
Welding robot Dynamic Closed Loop Control system and its real-time dynamic corrections algorithm Download PDFInfo
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- CN104950799B CN104950799B CN201510315607.3A CN201510315607A CN104950799B CN 104950799 B CN104950799 B CN 104950799B CN 201510315607 A CN201510315607 A CN 201510315607A CN 104950799 B CN104950799 B CN 104950799B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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Abstract
The present invention relates to industrial robot field, it is desirable to provide welding robot Dynamic Closed Loop Control system and its real-time dynamic corrections algorithm.The welding robot Dynamic Closed Loop Control system includes industrial computer, motion control card, welding robot system, image feedback system, can be based on image Real-time Feedback and complete welding job；The real-time dynamic corrections algorithm is specially：Image feedback system is according to the actual welds image of collection, identification obtains tool space weld seam path locus and is sent to industrial computer, industrial computer is calculated itself and predetermined tool space weld seam path, modification obtains revised tool space weld seam path locus and programming movement control instruction issues again, realizes the real-time revised planning of motion of butt welding machine device hand.The welding robot Dynamic Closed Loop Control system of the present invention can be during execution, the real-time remaining movement locus of Dynamic Programming, using the path of welding of image feedback, overcomes error caused by a variety of causes in real time, improves welding quality.
Description
Technical field
The present invention is the more particularly to welding robot Dynamic Closed Loop Control system and its in real time on industrial robot field
Dynamic corrections algorithm.
Background technology
Industrial robot is the final ripe and successful robot technology of current application, can be high-strength instead of manually realizing
Degree, complicated repeated labor, improve productivity effect and product quality, and by worker from complexity, high intensity work situation in
Free, go to perform more intelligence and low intensive work.The control system of usual industrial robot includes controller, motion
Control card and the several part compositions of robot body, robot body include servomotor, servo-driver and mechanical joint knot
The several parts of structure are formed.Controller planning control task is simultaneously converted into motion planning and robot control instruction set and is issued to motion control
Card, and send robot and control command, the motion control card such as start, stop and receive after motion control instruction set to servo-drive system
It is controlled, realizes the specific control to robot.
In traditional welding robot control method, controller is by teaching or the mode such as off-line programing by control task
After planning is good, the fortune control controller that is issued to instructed one by one is performed, or the instruction of one-time exercise control task
Set is issued to motion controller, and then controller sends startup optimization control instruction to motion control card, next motion control
Fabrication is carried out the motion control set issued, again during controller not interfering movement control card implementation procedure.It is and real
Various interference, and tool be present in the workplace on border, and planning and teaching motion planning and robot control task process
There are various errors in body and welding workpiece so that each welding workpiece all has certain specific error, actual welding effect
A certain distance be present with preferable welding effect, but can not be repaiied because motion control task is downloaded to after motion control card
Change, then need to instruct again if necessary to modification or planning control task, planning are well still later then fixed, it is impossible to again
Carry out implementing adjustment in actual implementation procedure to eliminate the various errors in real work, therefore welding effect is not total energy
Meet to require.
The content of the invention
It is a primary object of the present invention to overcome deficiency of the prior art, there is provided one kind can be repaiied in real time based on image feedback
The welding robot Dynamic Closed Loop Control system and method for positive welding movement locus.In order to solve the above technical problems, the present invention
Solution is：
Welding robot Dynamic Closed Loop Control system is provided, image Real-time Feedback can be based on and complete welding job, the weldering
Welding robot Dynamic Closed Loop Control system includes industrial computer, motion control card, welding robot system, image feedback system；
The industrial computer is used for controller as welding robot Dynamic Closed Loop Control system, can realize motion planning with
Motion planning and robot control instruction is sent in the control task buffering area of motion control card；The motion control instruction refers to transport
The instruction (MOVJ, MOVL etc.) that dynamic control card can be performed directly；
The motion control card can be from control task buffering area according to first in first out the motion control instruction that takes out in turn, it is right
Welding manipulator is controlled；The control task setting buffers (have certain size) in motion control card, are used for
Motion control instruction is stored, and the motion control instruction being also not carried out can be carried out covering again by industrial computer and be changed, motion control
Fabrication is performed according to amended motion control instruction；
The welding manipulator includes welding joint, servomotor and driver, can be used to complete welding job (bonding machine
Tool hand is the industry mechanical arm of a kind of special applications, there is the product of maturation in the market)；
Described image reponse system can gather weld image in real time, and carry out image recognition, and the seam track of identification is passed
Industrial computer is sent to, industry control function completes motion planning using the seam track of image feedback system transmission；
Industrial computer carries out motion planning and specifically referred to：Industry control function is by the way that predetermined seam track and picture system are fed back
The seam track of transmission is contrasted, again motion control instruction, the subsequent motion to being also not carried out in control task buffering area
Track carries out implementary plan, re-issues motion control instruction into the control task buffering area of motion control card.
Real-time dynamic corrections algorithm for described welding robot Dynamic Closed Loop Control system is provided, specifically included down
State step：
Image feedback system is according to the actual welds image of collection, identification acquisition tool space weld seam path locus P1=f1
(x1, y1, z1), and tool space weld seam path locus are sent to industrial computer；Industrial computer transmitted according to image feedback system
The actual welds curve come, carry out calculating acquisition error with predetermined tool space weld seam path P 2=f2 (x2, y2, z2), and
The task curve and parameter planned are modified, obtain revised tool space weld seam path locus P3=f3 (x3,
Y3, z3)；
The specific method of truing tool space weld path locus is：
P3=f3 (x3, y3, z3)=f (2 × x2-x1,2 × y2-y1,2 × z2-z1) (1)
I.e.：X3=2 × x2-x1 (2)
Y3=2 × y2-y1 (3)
Z3=2 × z2-z1 (4)
Industrial computer utilizes revised tool space weld seam path locus P3=f3 (x3, y3, z3) programming movement control again
System instruction is issued in the control task buffering area of motion control card, and cancel also be not carried out finishing in motion control card it is old
Motion control instruction, motion control card perform according to the motion control instruction after planning again, realize the fortune of butt welding machine device hand
Move real-time revised planning.
Compared with prior art, the beneficial effects of the invention are as follows：
The welding robot Dynamic Closed Loop Control system of the present invention can be during execution, and real-time Dynamic Programming remains
Remaining movement locus, using the path of welding of image feedback, error caused by a variety of causes is overcome in real time, improves welding quality.
Brief description of the drawings
Fig. 1 is the welding robot Dynamic Closed Loop Control system block diagram of the present invention.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings：
Welding robot Dynamic Closed Loop Control system as shown in Figure 1 includes industrial computer, motion control card, welding robot
Hand, image feedback system, image Real-time Feedback can be based on and complete welding job.
Industrial computer is used for controller as welding robot Dynamic Closed Loop Control system, can realize motion planning and by machine
Device people's motion control instruction is sent in the control task buffering area of motion control card.The motion control instruction specifically refers to transport
MOVJ, MOVL that dynamic control card can be performed directly etc. is instructed.
Motion control card can take out motion control instruction in turn from control task buffering area according to first in first out, to welding
Manipulator is controlled.The control task buffering area has certain size, is arranged in motion control card, is transported for storing
Dynamic control instruction, and the motion control instruction being also not carried out can be carried out covering again by industrial computer and be changed, motion control card is pressed
It is controlled according to amended motion control instruction.This mode of operation solves traditional instruction that issues, and performs one
The deficiency of instruction, the kinematic error of mechanical hand can be constantly corrected in real time.
Welding manipulator includes welding joint, servomotor and driver.
Image feedback system can gather weld image in real time, and carry out image recognition, and the seam track of identification is sent to
Industrial computer, industry control function complete motion planning using the seam track of image feedback system transmission.
Industrial computer carries out motion planning and specifically referred to：Industry control function is by the way that predetermined seam track and picture system are fed back
The seam track of transmission is contrasted, again motion control instruction, the subsequent motion to being also not carried out in control task buffering area
Track carries out implementary plan, re-issues motion control instruction into the control task buffering area of motion control card.
For the real-time dynamic corrections algorithm of the welding robot Dynamic Closed Loop Control system, following steps are specifically included
Suddenly：
Image feedback system is according to the actual welds image of collection, identification acquisition tool space weld seam path locus P1=f1
(x1, y1, z1), and tool space weld seam path locus are sent to industrial computer；Industrial computer transmitted according to image feedback system
The actual welds curve come, carry out calculating acquisition error with predetermined tool space weld seam path P 2=f2 (x2, y2, z2), and
The task curve and parameter planned are modified, obtain revised tool space weld seam path locus P3=f3 (x3,
Y3, z3)；
The specific method of truing tool space weld path locus is：
P3=f3 (x3, y3, z3)=f (2 × x2-x1,2 × y2-y1,2 × z2-z1) (1)
I.e.：X3=2 × x2-x1 (2)
Y3=2 × y2-y1 (3)
Z3=2 × z2-z1 (4)
Industrial computer utilizes revised tool space weld seam path locus P3=f3 (x3, y3, z3) programming movement control again
System instruction is issued in the control task buffering area of motion control card, and cancel also be not carried out finishing in motion control card it is old
Motion control instruction, motion control card perform according to the motion control instruction after planning again, realize the fortune of butt welding machine device hand
Real-time revised planning is moved, error caused by eliminating the various interference in practical implementation, reaches and improves welding quality
Purpose.
Finally it should be noted that listed above is only specific embodiment of the invention.It is clear that the invention is not restricted to
Above example, there can also be many variations.One of ordinary skill in the art can directly lead from present disclosure
All deformations for going out or associating, are considered as protection scope of the present invention.
Claims (1)
1. welding robot Dynamic Closed Loop Control system, image Real-time Feedback can be based on and complete welding job, it is characterised in that institute
Stating welding robot Dynamic Closed Loop Control system includes industrial computer, motion control card, welding robot system, image feedback system；
The industrial computer is used for controller as welding robot Dynamic Closed Loop Control system, can realize motion planning and by machine
Device people's motion control instruction is sent in the control task buffering area of motion control card；The motion control instruction refers to motion control
The instruction that fabrication can be performed directly；
The motion control card can take out motion control instruction in turn from control task buffering area according to first in first out, to welding
Manipulator is controlled；The control task setting buffers are in motion control card, for storing motion control instruction, and also
The motion control instruction being not carried out can be carried out covering again by industrial computer and be changed, and motion control card is controlled according to amended motion
Instruction processed is performed；
The welding manipulator includes welding joint, servomotor and driver, can be used to complete welding job；
Described image reponse system can gather weld image in real time, and carry out image recognition and obtain tool space weld seam path locus
P1=f1 (x1, y1, z1), the tool space weld seam path locus of identification are sent to industrial computer, industry control function is anti-using image
The seam track of feedback system transmission completes motion planning；
Industrial computer carries out motion planning and specifically referred to：The actual welds curve that industrial computer is sent according to image feedback system,
With predetermined tool space weld seam path P 2=f2 (x2, y2, z2) calculate and obtain error, to task curve plan with
Parameter is modified, and obtains revised tool space weld seam path locus P3=f3 (x3, y3, z3)；
The specific method of truing tool space weld path locus is：
P3=f3 (x3, y3, z3)=f (2 × x2-x1,2 × y2-y1,2 × z2-z1) (1)
I.e.：X3=2 × x2-x1 (2)
Y3=2 × y2-y1 (3)
Z3=2 × z2-z1 (4)
Industrial computer is referred to using the control of revised tool space weld seam path locus P3=f3 (x3, y3, z3) again programming movement
Order is issued in the control task buffering area of motion control card, and cancels the old motion for being also not carried out finishing in motion control card
Control instruction, motion control card perform according to the motion control instruction after planning again, realize that the motion of butt welding machine device hand is real
When revised planning.
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| CN104950799B true CN104950799B (en) | 2018-04-06 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109986255B (en) * | 2017-12-29 | 2021-11-30 | 深圳中集智能科技有限公司 | Hybrid vision servo parallel robot and operation method |
| EP3838504A1 (en) * | 2019-12-19 | 2021-06-23 | FRONIUS INTERNATIONAL GmbH | Method and device for monitoring a machining process and machine tool with such a device |
| CN112677155B (en) * | 2020-12-28 | 2022-07-12 | 北京配天技术有限公司 | Control method and control device for single-step movement of robot and storage medium |
| CN114653558B (en) * | 2022-05-25 | 2022-08-02 | 苏州柳溪机电工程有限公司 | Water blowing system for coating production line |
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| CN1279140A (en) * | 1999-06-25 | 2001-01-10 | 三星电子株式会社 | Welding robot system |
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