CN105415363A - Displacement device, robot and singular point processing method for robot - Google Patents
Displacement device, robot and singular point processing method for robot Download PDFInfo
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- CN105415363A CN105415363A CN201510992864.0A CN201510992864A CN105415363A CN 105415363 A CN105415363 A CN 105415363A CN 201510992864 A CN201510992864 A CN 201510992864A CN 105415363 A CN105415363 A CN 105415363A
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- robot
- displacement
- bar
- motion
- singular point
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a displacement device, a robot and a singular point processing method for the robot. The displacement device comprises a first displacement rod (8) used for connecting an end flange (9) of the robot and enabling the end flange (9) to carry out linear motion along the first displacement rod (8), a second displacement rod (7) carrying out linear motion along the first displacement rod (8), and a third displacement rod (6) carrying out linear motion along the second displacement rod (7), and used for connecting the drive end of a robot main body, wherein the end flange (9) is vertical to the first displacement rod (8) relative to the linear motion direction of the first displacement rod (8); the first displacement rod (8) is vertical to the second displacement rod (7) relative to the linear motion direction of the second displacement rod (7); and the second displacement rod (7) is vertical to the third displacement rod (6) relative to the linear motion direction of the third displacement rod (6). The displacement device provided by the invention improves the working accuracy of the robot, and avoids the problem of too fast speed of the robot at a singular point.
Description
Technical field
The present invention relates to robotics, particularly a kind of gearshift, robot and robot singular point processing method.
Background technology
Industrial robot is one of parts important in industrial automation system.The processing method of industrial robot singular point is exactly one of topmost technology in robot application technology.Singular point problem is the technology point that industrial robot must run into; once robot runs into the state of singular point; the phenomenon that joint motions speed becomes large suddenly will be there is in robot; thus cause robot shutdown even to bring production safety problem, so the control technology of robot needs evade or process singular point.
Singular point state, not only on singular point position, all can produce the excessive problem of joint motions speed in singular point peripheral region.Distance singular point position is nearer, and joint motions speed is larger.In robot running, during the situation of joint motions excessive velocities, robot needs to make speed-down action, even needs to shut down process, affects larger.
At present, conventional singular point transition method is DLS (Dampedleast-squares, damping minimum variance) method, in singular point transient process, inevitably brings accumulated error, reduces the precision of robot work.And application number is the patent document of CN103802114A, disclose a kind of industrial robot singular point processing method and device.But, when robot motion does not move to singular point threshold value to singular point peripheral region, still exist and cause shutting down the problem of makeing mistakes because of excessive velocities.
Therefore, how improving accuracy, avoid the problem occurring excessive velocities at singular point place, is the art personnel problem demanding prompt solutions.
Summary of the invention
In view of this, the invention provides a kind of gearshift, improve accuracy, avoid the problem occurring excessive velocities at singular point place.The invention also discloses a kind of robot and the robot singular point processing method with upper displacement apparatus.
For achieving the above object, the invention provides following technical scheme:
A kind of gearshift, comprising: for connecting the end flange of robot and making described end flange along the first displacement bar of its linear movement; Along the second displacement bar that described first displacement bar moves linearly; Move linearly along described second displacement bar, for connecting the triple motion bar of the driving end of robot body;
Described end flange relative to the direction of linear motion of described first displacement bar, described first displacement bar relative to the direction of linear motion of described second displacement bar and described second displacement bar mutually vertical relative to the direction of linear motion of described triple motion bar.
Preferably, in upper displacement apparatus, two in described triple motion bar, described second displacement bar and described first displacement bar is slide rail, and remaining one is linear telescopic device.
Preferably, in upper displacement apparatus, described triple motion bar and described second displacement bar are slide rail; Described second displacement bar slides and is arranged on described triple motion bar;
Described first displacement bar is linear telescopic device, and its slip is arranged on described second displacement bar, and its drive end is connected with described end flange.
Preferably, in upper displacement apparatus, described linear telescopic device is linear electric motors or cylinder.
Present invention also offers a kind of robot, comprise robot body and end flange, also comprise the gearshift as described in above-mentioned any one;
Described end flange is connected with described first displacement bar, and the driving end of described robot body is connected with described triple motion bar.
Preferably, in above-mentioned robot, described robot body comprises the pedestal, first connecting rod, second connecting rod, third connecting rod, double leval jib and the 5th connecting rod that are connected by joint successively;
Described 5th connecting rod is the driving end of described robot body away from one end of described double leval jib.
Preferably, in above-mentioned robot, described end flange is provided with the multiple installing holes for erecting tools.
Present invention also offers a kind of robot singular point processing method, apply the gearshift as described in above-mentioned any one, comprise step:
1) by the articulation of robot to initial angle position, bring into operation robot rectilinear motion programmed instruction;
2) judge whether described robot enters singular point region, if so, enter next step; If not, described robot continues proper motion;
3) under the prerequisite not considering institute's displacement apparatus, singular point transition algorithm is used to calculate the angle of next interpolation cycle of described revolute joint needs motion:
Solve and show that the end of described robot is by current kinetic position p
1to precalculated position p
2between motion vector
4) end of calculating robot is from initial position p
1to moving target position p
3need the motion vector carrying out rectilinear motion
the motion vector of compensating motion is
Will
be decomposed into the move distance in three orthogonal directions
Control the first displacement bar of institute's displacement apparatus, the second displacement bar and triple motion bar to move linearly respectively, move distance is respectively d
7, d
8and d
9;
Carry out trajectory planning according to interpolation cycle and interpolation algorithm, and send interpolation signal and move to actuator;
5) judge whether robot leaves singular point region: if do not leave singular point region, then enter step 3); If leave singular point region, then enter next step;
6) singular point process is terminated.
Preferably, in above-mentioned robot singular point processing method, described step 5) and described step 6) between also comprise step 56):
Leave after singular point region carries out proper motion in robot, the displacement zero on institute's displacement apparatus is set.
Preferably, in above-mentioned robot singular point processing method, the displacement resetting method on institute's displacement apparatus is:
561) according to the move distance of line slideway on the first displacement bar, the second displacement bar and triple motion bar
with
calculate
562) from current kinetic position p
5to moving target position p
6motion vector
the end movement position p of robot under the prerequisite not considering gearshift
4to position p
6motion vector be
563) carry out trajectory planning according to interpolation cycle and interpolation algorithm, and send interpolation signal and move to actuator.
As can be seen from above-mentioned technical scheme, gearshift provided by the invention, by arranging the first displacement bar, the second displacement bar and triple motion bar, make it have three orthogonal direction of linear motion, reach space displacement mode, so that reach, in singular point transient process, motion is compensated to robot, improve the accuracy of robot work, further, excessive velocities appears in robot problem at singular point place is avoided.
Present invention also offers a kind of robot and robot singular point processing method thereof, there is the technique effect same with upper displacement apparatus, introduce no longer in detail at this.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The structural representation of the robot that Fig. 1 provides for the embodiment of the present invention;
The schematic flow sheet of the robot singular point processing method that Fig. 2 provides for the embodiment of the present invention;
The structural representation of the compensating motion that Fig. 3 provides for the embodiment of the present invention;
The decomposing schematic representation of the motion vector of the compensating motion that Fig. 4 provides for the embodiment of the present invention;
The structural representation of the gearshift zero motion that Fig. 5 provides for the embodiment of the present invention.
Detailed description of the invention
The invention discloses a kind of gearshift, improve accuracy, avoid the problem occurring excessive velocities at singular point place.The invention also discloses a kind of robot and the robot singular point processing method with upper displacement apparatus.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Please refer to Fig. 1, the structural representation of the robot that Fig. 1 provides for the embodiment of the present invention.
Embodiments provide a kind of gearshift, comprising: for connecting the end flange 9 of robot and making end flange 9 along the first displacement bar 8 of its linear movement; Along the second displacement bar 7 that the first displacement bar 8 moves linearly; Move linearly along the second displacement bar 7, for connecting the triple motion bar 6 of the driving end of robot body; End flange 9 relative to the direction of linear motion of the first displacement bar 8, the first displacement bar 8 relative to the direction of linear motion of the second displacement bar 7 and the second displacement bar 7 mutually vertical relative to the direction of linear motion of triple motion bar 6.
The gearshift that the embodiment of the present invention provides, by arranging the first displacement bar 8, second displacement bar 7 and triple motion bar 6, make it have three orthogonal direction of linear motion, reach space displacement mode, so that reach, in singular point transient process, motion is compensated to robot, improve the accuracy of robot work, and, avoid excessive velocities appears in robot problem at singular point place.
In the present embodiment, two in triple motion bar 6, second displacement bar 7 and the first displacement bar 8 is slide rail, and remaining one is linear telescopic device.By above-mentioned setting, make two slide rail directions of motion mutually vertical with the stretching motion direction of another linear telescopic device, the alignment motion avoiding three directions is interfered mutually.Certainly, also triple motion bar 6, second displacement bar 7 and the first displacement bar 8 all can be set to slide rail; Or, be all set to linear telescopic device; Or wherein two are set to linear telescopic device, remaining one is slide rail.
Triple motion bar 6 and the second displacement bar 7 are slide rail; Second displacement bar 7 slides and is arranged on triple motion bar 6; First displacement bar 8 is linear telescopic device, and its slip is arranged on the second displacement bar 7, and its drive end is connected with end flange 9.That is, the second displacement bar 7 is slidably arranged on triple motion bar 6, and the first displacement bar 8 is slidably arranged on the second displacement bar 7, end flange 9 under the drive of the first displacement bar 8 along the bearing of trend stretching motion of the first displacement bar 8.By above-mentioned setting, further avoid triple motion bar 6, second displacement bar 7 and the mutual situation of interfering of the first displacement bar 8.Also the second displacement bar 7 and the first displacement bar 8 can be made to be set to slide rail, and triple motion bar 6 is set to linear telescopic device; Or triple motion bar 6 and the first displacement bar 8 are set to slide rail, and the second displacement bar 7 is set to linear telescopic device.To introduce no longer in detail and all within protection domain at this.
Preferably, linear telescopic device is linear electric motors or cylinder.By above-mentioned setting, automatically regulate the stretching motion of linear telescopic device, effectively improve automaticity and comfort level.Also can be set to expansion link, realize it by external drive and stretch, complete the effect of moving along its bearing of trend.
The embodiment of the present invention additionally provides a kind of robot, comprises robot body and end flange 9, also comprises as any one gearshift above-mentioned; End flange 9 is connected with the first displacement bar 8, and the driving end of robot body is connected with triple motion bar 6.Because upper displacement apparatus has above-mentioned technique effect, the robot with upper displacement apparatus also should have same technique effect, tires out no longer one by one state at this.
Robot body comprises the pedestal 10, first connecting rod 1, second connecting rod 2, third connecting rod 3, double leval jib 4 and the 5th connecting rod 5 that are connected by joint successively; 5th connecting rod 5 is the driving end of robot body away from one end of double leval jib 4.That is, the robot in the embodiment of the present invention, is preferably six-joint robot.
In order to improve versatility, end flange 9 is provided with the multiple installing holes for erecting tools.
As shown in Figure 2, Figure 3 and Figure 4, the embodiment of the present invention additionally provides a kind of robot singular point processing method, and application, as any one gearshift, comprises step:
S1: by the articulation of robot to initial angle position, bring into operation robot rectilinear motion programmed instruction; By above-mentioned setting, robot is made to be in rectilinear motion after original state.Before step S1, preferably gearshift is made zero.
S2: judge whether robot enters singular point region, if so, enter next step; If not, robot continues proper motion; For six-joint robot, by the articulation angle θ in joint 5
5as the parameter of singular point threshold decision.Work as θ
5when being less than threshold value, judge that robot enters singular point region, enter next step and carry out singular point transition flow process; Work as θ
5when being more than or equal to threshold value, judge that robot does not enter singular point region, robot continues proper motion.
Before step S2, calculate singular point.
S3: under the prerequisite not considering gearshift, uses next interpolation cycle of singular point transition algorithm calculating robot cradle head to need the angle of motion:
Solve and show that the end of robot is by current kinetic position p
1to precalculated position p
2between motion vector
wherein, singular point transition algorithm can be DLS (Dampedleast-squares, damping minimum variance) algorithm.Certainly, also can adopt other singular point transition algorithms, tire out no longer one by one at this and state.
S4: the end of calculating robot is from initial position p
1to moving target position p
3need the motion vector carrying out rectilinear motion
the motion vector of calculation compensation motion, the motion vector of compensating motion is
wherein,
motion vector under the rotational angle effect of the revolute joint calculated for using singular point transition algorithm
the motion vector carried out with actual needs
difference,
complete motion by gearshift, avoid
with
between error, improve precision.
Will
be decomposed into the move distance in three orthogonal directions
be understandable that, three orthogonal directions and end flange 9 relative to the direction of linear motion of the first displacement bar 8, the first displacement bar 8 relative to the direction of linear motion of the second displacement bar 7 and the second displacement bar 7 direction of linear motion one_to_one corresponding relative to triple motion bar 6.
First displacement bar 8, second displacement bar 7 of command displacement device and triple motion bar 6 move linearly respectively, and move distance is respectively d
7, d
8, d
9; As shown in Figure 3, d
7vector direction be Y-axis, d
8vector direction be X-axis, d
9vector direction be Z axis.Wherein, end flange 9 is respectively X-axis, Y-axis and Z axis relative to the direction of linear motion of the second displacement bar 7 and the second displacement bar 7 relative to the direction of linear motion of triple motion bar 6 relative to the direction of linear motion of the first displacement bar 8, the first displacement bar 8.End flange 9 relative to the first displacement bar 8 linear movement distance, the first displacement bar 8 relative to the second displacement bar 7 linear movement distance and the second displacement bar 7 be respectively d relative to the linear movement distance of triple motion bar 6
7, d
8and d
9.
Carry out trajectory planning according to interpolation cycle and interpolation algorithm, and send interpolation signal and move to actuator; By trajectory planning, robot is made to complete the task of regulation.
S5: judge whether robot leaves singular point region: if do not leave singular point region, then enter step S3; If leave singular point region, then enter next step;
S6: terminate singular point process.
The robot singular point processing method that the embodiment of the present invention provides, bound site moving device, reach space displacement mode, so that reach, in singular point transient process, motion is compensated to robot, improve the accuracy of robot work, further, excessive velocities appears in robot problem at singular point place is avoided.
For the ease of compensating motion after gearshift, between step S5 and step S6, also comprise step S56: leave after singular point region carries out proper motion in robot, the displacement zero on gearshift is set.
As shown in Figure 5, further, in step S56, the displacement resetting method on gearshift is:
S561: according to the move distance of line slideway on the first displacement bar 8, second displacement bar 7 and triple motion bar 6
with
calculate
wherein,
S562: from current kinetic position p
5to moving target position p
6motion vector
the end movement position p of robot under the prerequisite not considering gearshift
4to target location p
6motion vector be
wherein,
for the motion vector of the end of robot.
S563: carry out trajectory planning according to interpolation cycle and interpolation algorithm, and send interpolation signal and move to actuator, by trajectory planning, the end of robot is passed through
rear arrival target location p
6, gearshift makes zero.
In this description, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. a gearshift, is characterized in that, comprising: for connecting the end flange (9) of robot and making described end flange (9) along first displacement bar (8) of its linear movement; Along the second displacement bar (7) that described first displacement bar (8) moves linearly; Move linearly along described second displacement bar (7), for connecting the triple motion bar (6) of the driving end of robot body; Described end flange (9) relative to the direction of linear motion of described first displacement bar (8), described first displacement bar (8) relative to the direction of linear motion of described second displacement bar (7) and described second displacement bar (7) mutually vertical relative to the direction of linear motion of described triple motion bar (6).
2. gearshift as claimed in claim 1, it is characterized in that, two in described triple motion bar (6), described second displacement bar (7) and described first displacement bar (8) is slide rail, and remaining one is linear telescopic device.
3. gearshift as claimed in claim 2, it is characterized in that, described triple motion bar (6) and described second displacement bar (7) they are slide rail; The slip of described second displacement bar (7) is arranged on described triple motion bar (6);
Described first displacement bar (8) is linear telescopic device, and its slip is arranged on described second displacement bar (7), and its drive end is connected with described end flange (9).
4. gearshift as claimed in claim 2 or claim 3, it is characterized in that, described linear telescopic device is linear electric motors or cylinder.
5. a robot, comprises robot body and end flange (9), it is characterized in that, also comprise the gearshift as described in any one of claim 1-4;
Described end flange (9) is connected with described first displacement bar (8), and the driving end of described robot body is connected with described triple motion bar (6).
6. robot as claimed in claim 5, it is characterized in that, described robot body comprises the pedestal (10), first connecting rod (1), second connecting rod (2), third connecting rod (3), double leval jib (4) and the 5th connecting rod (5) that are connected by joint successively;
Described 5th connecting rod (5) is the driving end of described robot body away from one end of described double leval jib (4).
7. the robot as described in claim 5 or 6, is characterized in that, described end flange (9) is provided with the multiple installing holes for erecting tools.
8. a robot singular point processing method, apply the gearshift as described in any one of claim 1-4, it is characterized in that, comprise step:
1) by the articulation of robot to initial angle position, bring into operation robot proper motion programmed instruction;
2) judge whether described robot enters singular point region, if so, enter next step; If not, described robot continues proper motion;
3) under the prerequisite not considering institute's displacement apparatus, singular point transition algorithm is used to calculate the angle of next interpolation cycle of described revolute joint needs motion:
Solve and show that the end of described robot is by current kinetic position p
1to precalculated position p
2between motion vector
4) end of calculating robot is from initial position p
1to moving target position p
3need the motion vector carrying out rectilinear motion
the motion vector of compensating motion is
Will
be decomposed into the move distance in three orthogonal directions
Control first displacement bar (8) of institute's displacement apparatus, the second displacement bar (7) and triple motion bar (6) to move linearly respectively, move distance is respectively d
7, d
8and d
9;
Carry out trajectory planning according to interpolation cycle and interpolation algorithm, and send interpolation signal and move to actuator;
5) judge whether robot leaves singular point region: if do not leave singular point region, then enter step 3); If leave singular point region, then enter next step;
6) singular point process is terminated.
9. robot as claimed in claim 8 singular point processing method, is characterized in that, described step 5) and described step 6) between also comprise step 56):
Leave after singular point region carries out proper motion in robot, the displacement zero on institute's displacement apparatus is set.
10. robot as claimed in claim 9 singular point processing method, it is characterized in that, the displacement resetting method on institute's displacement apparatus is:
561) according to the move distance of the upper line slideway of the first displacement bar (8), the second displacement bar (7) and triple motion bar (6)
with
calculate
562) from current kinetic position p
5to moving target position p
6motion vector
the end movement position p of robot under the prerequisite not considering gearshift
4to position p
6motion vector be
563) carry out trajectory planning according to interpolation cycle and interpolation algorithm, and send interpolation signal and move to actuator.
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| CN113183148A (en) * | 2021-03-31 | 2021-07-30 | 成都飞机工业（集团）有限责任公司 | Industrial robot singularity-avoiding end effector connecting device and singularity-avoiding method |
| CN113305881A (en) * | 2021-05-14 | 2021-08-27 | 北京配天技术有限公司 | Singular area detection method in robot motion planning stage |
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| Publication number | Publication date |
|---|---|
| CN105415363B (en) | 2017-11-17 |
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