CN105522577A - Method and device used for planning Descartes trajectory of five-axis bending robot - Google Patents
Method and device used for planning Descartes trajectory of five-axis bending robot Download PDFInfo
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- CN105522577A CN105522577A CN201510853906.2A CN201510853906A CN105522577A CN 105522577 A CN105522577 A CN 105522577A CN 201510853906 A CN201510853906 A CN 201510853906A CN 105522577 A CN105522577 A CN 105522577A
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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
Abstract
The invention relates to the field of robot control and discloses a method and a device used for planning the Descartes trajectory of a five-axis bending robot. According to the invention, the method comprises the following steps: determining the Descartes position and trajectory of the starting point and ending point of a robot, wherein the Descartes position includes position information and gesture information based on a coordinate system; determining a method for acquiring a Descartes interpolation point of the trajectory according to judgment on whether the trajectory is a bending follow-up trajectory, if so, directly acquiring the Descartes interpolation point of the trajectory, and if not, acquiring the Descartes interpolation point by utilizing the interchange of the Descartes position and a mixing position; generating a robot joint interpolation point according to the acquired Descartes interpolation point; and planning the Descartes trajectory of the five-axis bending robot according to the generated joint Descartes interpolation point. According to the implementation manner of the invention, the five-axis robot can realize a bending project, so that the application scene of the five-axis robot can be expanded.
Description
Technical field
The present invention relates to robot controlling field, particularly for the method for five shaft bending machine device people cartesian trajectories planning.
Background technology
In traditional factory, this type of work, substantially by manually having come, having large, consuming time more, uninteresting, the work under bad environment of labour intensity, easily the problem such as polluting, and can increase the cost of enterprise.Therefore in these areas, need robot to carry article quickly and accurately, weld, the operation such as spraying.Complete Forging Process comprises feeding, charging, follows the process of bending, the material returned and blowing.In robot bending project, six-joint robot is the one of series connection robot, because it can move freely in three dimensions, can carry out quickly and accurately carrying, weld, a large amount of repetitive work such as spraying.Usual employing six-shaft industrial robot carries out bending operation.
But although current this kind of robot has the abundant free degree, because its joint is too much, driving mechanism is too complicated, cause dexterous not, responsiveness is slow, and accuracy is poor.
Summary of the invention
The object of the present invention is to provide a kind of method for five shaft bending machine device people cartesian trajectories planning and device thereof, make wu-zhi-shan pig can realize bending project, expand the application scenarios of wu-zhi-shan pig.
For solving the problems of the technologies described above, embodiments of the present invention provide a kind of method for five shaft bending machine device people cartesian trajectories planning, comprise following steps:
Determine that the whole story of robot puts Cartesian position and track; Wherein, described Cartesian position comprises: based on positional information and the attitude information of coordinate system;
Whether be the method that bending follows that track determines to obtain Descartes's interpolated point of described track according to described track;
Wherein, if track is followed in bending, then directly obtain Descartes's interpolated point of described track; Follow track if not bending, then utilize the exchange of Cartesian position and hybrid position to obtain Descartes's interpolated point; Wherein, described hybrid position comprises: the positional information based on coordinate system and the anglec of rotation around y-axis and the anglec of rotation around x-axis;
Joint of robot interpolated point is generated according to obtained Descartes's interpolated point;
According to the cartesian trajectories of the generated described five shaft bending machine device people of joint Descartes's interpolated point planning.
Embodiments of the present invention additionally provide a kind of device for five shaft bending machine device people cartesian trajectories planning, comprise:
Track determination module, for determining that the whole story of robot puts Cartesian position and track; Wherein, described Cartesian position comprises: based on positional information and the attitude information of coordinate system;
Whether detection module is that track is followed in bending for detecting described track, and detect be bending follow track time, directly obtain Descartes's interpolated point of described track;
Acquisition module, for detect at described detection module be not bending follow track time, utilize the exchange of Cartesian position and hybrid position to obtain Descartes's interpolated point; Wherein, described hybrid position comprises: the positional information based on coordinate system and the anglec of rotation around y-axis and the anglec of rotation around x-axis;
Generation module, generates joint of robot interpolated point for the Descartes's interpolated point obtained according to described detection module or described acquisition module;
Planning module, the joint Descartes's interpolated point for generating according to described generation module plans the cartesian trajectories of described five shaft bending machine device people.
Embodiment of the present invention in terms of existing technologies, utilize the exchange of putting Cartesian position and hybrid position the whole story of wu-zhi-shan pig, solve joint interpolation when track is followed in non-bending, thus realize wu-zhi-shan pig non-bending accompany movement in space, not only make wu-zhi-shan pig can complete bending project, and expand the application scenarios of wu-zhi-shan pig, thus simplification driving mechanism, reduce costs, in increase project, dexterity, the quickening robot motion speed of robot, improve accuracy.
As further improvement, utilize the exchange of Cartesian position and hybrid position in the step obtaining Descartes's interpolated point described, comprise following sub-step: is put Cartesian position the described whole story and be converted to and put hybrid position the whole story; Hybrid position interpolated point is obtained according to putting hybrid position the described whole story; The described hybrid position interpolated point obtained is converted to Descartes's interpolated point.Further refinement utilizes the exchange of Cartesian position and hybrid position, obtains the method for Descartes's interpolated point.
As further improvement, be converted to put in the sub-step of hybrid position the whole story at described Cartesian position that the whole story put, comprise following sub-step: set up five axle inverse kinematics; Utilize inverse solution of described five axle inverse kinematics to put Cartesian position the described whole story, the whole story obtaining robot puts joint position; Hybrid position is put the whole story according to putting joint position the described whole story and putting Cartesian position acquisition the described whole story.In the process that further refinement obtains at interpolated point, the exchange method of Cartesian position and hybrid position.
As further improvement, in the acquisition process of described interpolated point, adopt the planning amount of predetermined speed.Further restriction uses the planning gauge of unified speed to draw positional information, makes speed planning smooth change, thus can ensure hybrid position interpolated point smooth change.
Accompanying drawing explanation
Fig. 1 is according to the method flow diagram for five shaft bending machine device people cartesian trajectories planning in first embodiment of the invention;
Fig. 2 is the link parameters schematic diagram according to the wu-zhi-shan pig in first embodiment of the invention;
Fig. 3 a is according to the robot cartesian trajectories schematic diagram in first embodiment of the invention;
Fig. 3 b is according to the joint of robot position view in first embodiment of the invention;
Fig. 3 c is according to the robot Descartes speed schematic diagram in first embodiment of the invention;
Fig. 3 d is according to the joint of robot speed schematic diagram in first embodiment of the invention;
Fig. 4 is according to the device schematic diagram for five shaft bending machine device people cartesian trajectories planning in second embodiment of the invention;
Fig. 5 be according in second embodiment of the invention for five shaft bending machine device people cartesian trajectories planning device in acquisition module schematic diagram.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the embodiments of the present invention are explained in detail.But, persons of ordinary skill in the art may appreciate that in each embodiment of the present invention, proposing many ins and outs to make reader understand the application better.But, even without these ins and outs with based on the many variations of following embodiment and amendment, each claim of the application technical scheme required for protection also can be realized.
First embodiment of the present invention relates to a kind of method for five shaft bending machine device people cartesian trajectories planning.Its flow process is as shown in Figure 1, specific as follows:
Step 101, determines that the whole story of robot puts Cartesian position and track.
Specifically, Cartesian position comprises: based on positional information and the attitude information of coordinate system.
In actual applications, the whole story in given five shaft bending machine device people Descartes paths puts position, adopts Cartesian position information xyzabc as input.Wherein xyz represents the positional information of robot tool end (being called for short " TCP ") opposed robots's basis coordinates system, and abc represents the attitude information of TCP opposed robots basis coordinates system of robot.
The working space traveling through five shaft bending machine device people is not difficult to find out, the locational space of wu-zhi-shan pig is substantially not limited, and in configuration space, the y-axis direction of TCP is limited.It is given that this just makes that Descartes's pose of wu-zhi-shan pig can not be random, and have strict requirement, can show that restrictive condition is Mathematical Modeling: given attitude must meet the z-axis direction of robot 5 axle must be vertical with the y-axis of 1 axle.Study to definite limitation with regard to the attitude abc of this restrictive condition to TCP, be difficult to obtain satisfied conclusion, reason is that attitude abc has clear and definite physical significance, and derives from math equation and obtain condition and be difficult to be mapped with abc.So, need to consider that other methods for designing represent to the pose realizing wu-zhi-shan pig, and this pose is represented can carry out general robot trajectory planning.
Step 102, judges whether track is that track is followed in bending; If so, then step 106 is performed; If not, then step 103 is performed.
Bending followed track and non-bending at this to follow track and distinguish, trajectory planning can be realized better.
Step 103, obtains Descartes's interpolated point.
Specifically, when judging that track follows track as bending, can directly obtain Descartes's interpolated point.Due in bending process, the movement locus of whole robot is also uncomplicated, uses the wu-zhi-shan pig in default 4 joints just can realize complete bending operation in its Work Space Range.For following Forging Process, the attitude of robot is strict with, so, concerning five shaft bending machine device people, as long as can ensure that robot faces bender, just can ensure the accessibility of its attitude.Therefore, to no problem in the realization of following bending track of five shaft bending machine device people.
Step 104, will put Cartesian position the whole story and be converted to and put hybrid position the whole story.
Specifically, hybrid position comprises: the positional information based on coordinate system and the anglec of rotation around y-axis and the anglec of rotation around x-axis.In actual applications, hybrid position generally represents with xyzA4A5, and wherein xyz represents the positional information of TCP opposed robots basis coordinates system of robot, and A4A5 represents that expression robot TCP is around the y-axis anglec of rotation of TCP with around the x-axis anglec of rotation respectively.Certainly, in actual applications also can without the method for expressing of A4A5, with other method for expressing.
Cartesian position and the mutual transfer process of hybrid position specific as follows:
(1) five axle positive kinematics are set up:
Specifically, be utilize DH parametric method to derive to set up five axle positive kinematics.Fig. 2 is the link parameters schematic diagram of wu-zhi-shan pig, and the DH parameter list of five shaft bending machine device people of foundation is as following table (1):
The DH parameter list of table (1) five shaft bending machine device people
It is worth mentioning that, the mode setting up the positive inverse kinematics of five axles is not limited to the above-mentioned DH parametric method mentioned, and can also be other modes existing, will not enumerate at this.
(2) Cartesian position xyzabc and the mixing Cartesian position xyzA4A5 of robot is obtained according to the joint position of robot.The Cartesian position of five shaft bending machine device people is expressed as follows:
Wherein homogeneous matrix T is:
According to the joint position θ of Cartesian position xyzabc and robot
ican obtain the hybrid position xyzA4A5 of robot, wherein the xyz of hybrid position is identical with the xyz of Cartesian position, and A4A5 and the joint of robot position relationship of hybrid position are:
A
4＝-(θ
4+π/2)
A
5＝θ
5
(3) obtain the inverse of robot according to Cartesian position to separate:
Specifically, utilize inverse solution of five axle inverse kinematics to put Cartesian position the described whole story, the whole story obtaining robot puts joint position.
Above formula
equation both sides are multiplied by simultaneously
inverse, the homogeneous matrix of robot wrist point opposed robots basis coordinates system can be obtained, as follows:
Inverse solution solves as follows:
The solution in joint 1 is: θ
1=atan2 (p
y, p
x)
The solution in joint 5 is:
θ
5＝atan2(s
1r
11-c
1r
21,s
1r
12-c
1r
22)
The solution in joint 3 is:
θ
234＝atan2(-c
1r
13-s
1r
23,-r
33)
Wherein:
b
1＝c
1p
x+s
1p
y-a
4c
234-a
1
b
2＝d
1-a
4s
234-p
z
The solution in joint 2 is:
θ
2＝atan2(k
2b
2-k
1b
1,k
2b
1+k
1b
2)
Wherein k
1=a
3s
3, k
2=a
2+ a
3c
3
The solution in joint 4 is:
θ
4＝θ
234-θ
2-θ
3
(4) obtain the inverse of robot according to hybrid position to separate:
Derived can be obtained by forward kinematics solution:
Obtain the expression formula of position thus, as follows:
Known by A4A5, can try to achieve joint 4 and joint 5, above formula can turn to further:
wherein,
be known quantity equation both sides with inverse with R1 of premultiplication, following equation can be obtained:
This equation can solve joint 123 easily, no longer derives here, directly provides conclusion:
Wherein: (a of small letter is robot dh link parameters)
E
1＝c1·D
1+s1·D
2-a
1
E
2＝D
3
F
1＝s2·A
1+c2·A
2
F2＝s2·A
2-c2·A
1
G＝-E
2-a
2·s2
(5) the mutual conversion of Cartesian position xyzabc and hybrid position xyzA4A5
Cartesian position xyzabc is transformed into hybrid position xyzA4A5: first obtain joint position by inverse solution of Cartesian position, then obtain hybrid position by joint position and Cartesian position.
Hybrid position xyzA4A5 is transformed into Cartesian position xyzabc: first obtain joint position by inverse solution of hybrid position, then carry out forward kinematics solution by joint position and obtain Cartesian position.
Step 105, obtains hybrid position interpolated point according to putting hybrid position the whole story.
Specifically, by putting the initialization that path is carried out in position the given whole story, S type speed planning being carried out to path and obtains hybrid position interpolated point.
Step 106, is converted to Descartes's interpolated point by the described hybrid position interpolated point obtained.
This step and step 104 similar, be that two kinds of positions are changed mutually.
Above-mentioned steps 104 to 106 is and utilizes the exchange of Cartesian position and hybrid position to obtain the overall process of Descartes's interpolated point.
Step 107, generates joint of robot interpolated point.
Specifically, joint of robot interpolated point is generated according to obtained Descartes's interpolated point.
Step 108, planning cartesian trajectories.
Specifically, according to the cartesian trajectories of the generated described five shaft bending machine device people of joint Descartes's interpolated point planning.
For example, if given any five shaft bending machine device people whole story the Cartesian position of 2:
Pstart＝{1545.1，272.44，-164.02，132.37，-76.577，-3.4211}
Pend＝{888.72，-395.68，384.96，-148.91，-49.232，-50.473}；
So, (Fig. 3 a), joint trajectories (Fig. 3 b), Descartes's speed (Fig. 3 c), joint velocity (Fig. 3 d) just can clearly obtain to obtain robot cartesian trajectories.Wherein, five joint trajectories curves in Fig. 3 b refer to five joint position geometric locuses of wu-zhi-shan pig respectively; Five joint velocity curves in Fig. 3 d refer to five joint velocity geometric locuses of wu-zhi-shan pig respectively.
Visible, when putting the whole story of robot given Cartesian position xyzabc form, first need to be converted into hybrid position representation xyzA4A5, then path is initialized, for straight line path, according to the hybrid position information of point at the whole story, the length of straight line can be obtained, and the increment size of A4A5.Then carry out speed planning and obtain trajectory planning interpolation amount progress, calculated the hybrid position value xyzA4A5 of interpolated point by this progress interpolation gauge.The output of putting to keep the whole story is consistent, then hybrid position interpolation value is converted to Cartesian position interpolation value xyzabc, and carries out Inverse Kinematics Solution.Owing to using unified speed planning amount Progress planned position information and the value of A4A5, therefore, as long as speed planning smooth change, hybrid position interpolated point smooth change just can be ensured.
Present embodiment in terms of existing technologies, utilize the exchange of putting Cartesian position and hybrid position the whole story of wu-zhi-shan pig, solve joint interpolation when track is followed in non-bending, thus realize wu-zhi-shan pig non-bending accompany movement in space, not only make wu-zhi-shan pig can complete bending project, and expand the application scenarios of wu-zhi-shan pig, thus simplification driving mechanism, reduce costs, in increase project, dexterity, the quickening robot motion speed of robot, improve accuracy.
The step of various method divides above, just in order to be described clearly, can merge into a step or splitting some step, being decomposed into multiple step, when realizing as long as comprise identical logical relation, all in the protection domain of this patent; To adding inessential amendment in algorithm or in flow process or introducing inessential design, but the core design not changing its algorithm and flow process is all in the protection domain of this patent.
Second embodiment of the present invention relates to a kind of device for five shaft bending machine device people cartesian trajectories planning.As shown in Figure 4, comprise:
Track determination module, for determining that the whole story of robot puts Cartesian position and track; Wherein, described Cartesian position comprises: based on positional information and the attitude information of coordinate system.
Whether detection module is that track is followed in bending for detecting described track; And detect be bending follow track time, directly obtain Descartes's interpolated point of described track.
Acquisition module, for detect at described detection module be not bending follow track time, utilize the exchange of Cartesian position and hybrid position to obtain Descartes's interpolated point; Wherein, described hybrid position comprises: the positional information based on coordinate system and the anglec of rotation around y-axis and the anglec of rotation around x-axis.
Generation module, generates joint of robot interpolated point for the Descartes's interpolated point obtained according to described detection module or described acquisition module.
Planning module, the joint Descartes's interpolated point for generating according to described generation module plans the cartesian trajectories of described five shaft bending machine device people.
It should be noted that, acquisition module as shown in Figure 5, comprises following submodule further:
First transform subblock, is converted to puts hybrid position for being put Cartesian position the described whole story whole story.
Obtain submodule, for obtaining hybrid position interpolated point according to putting hybrid position the described whole story after described first transform subblock conversion.
Second transform subblock, is converted to Descartes's interpolated point for the described hybrid position interpolated point obtained by described acquisition submodule.
Furtherly, the first transform subblock comprises following submodule:
Set up submodule, for setting up five axle inverse kinematics.
Inverse solution submodule, for utilizing the described five axle inverse kinematics set up submodule and set up, inverse solution puts Cartesian position the described whole story, and the whole story obtaining robot puts joint position.
Hybrid position obtains submodule, for putting hybrid position the whole story according to putting joint position and put Cartesian position acquisition the described whole story the described inverse described whole story of separating submodule acquisition.
Be not difficult to find, present embodiment is the system embodiment corresponding with the first embodiment, and present embodiment can be worked in coordination with the first embodiment and be implemented.The relevant technical details mentioned in first embodiment is still effective in the present embodiment, in order to reduce repetition, repeats no more here.Correspondingly, the relevant technical details mentioned in present embodiment also can be applicable in the first embodiment.
It is worth mentioning that, each module involved in present embodiment is logic module, and in actual applications, a logical block can be a physical location, also can be a part for a physical location, can also realize with the combination of multiple physical location.In addition, in order to outstanding innovative part of the present invention, the unit not too close with solving technical problem relation proposed by the invention is not introduced in present embodiment, but this does not show the unit that there is not other in present embodiment.
Persons of ordinary skill in the art may appreciate that the respective embodiments described above realize specific embodiments of the invention, and in actual applications, various change can be done to it in the form and details, and without departing from the spirit and scope of the present invention.
Claims (10)
1., for a method for five shaft bending machine device people cartesian trajectories planning, it is characterized in that, comprise following steps:
Determine that the whole story of robot puts Cartesian position and track; Wherein, described Cartesian position comprises: based on positional information and the attitude information of coordinate system;
Whether be the method that bending follows that track determines to obtain Descartes's interpolated point of described track according to described track;
Wherein, if track is followed in bending, then directly obtain Descartes's interpolated point of described track; Follow track if not bending, then utilize the exchange of Cartesian position and hybrid position to obtain Descartes's interpolated point; Wherein, described hybrid position comprises: the positional information based on coordinate system and the anglec of rotation around y-axis and the anglec of rotation around x-axis;
Joint of robot interpolated point is generated according to obtained Descartes's interpolated point;
According to the cartesian trajectories of the generated described five shaft bending machine device people of joint Descartes's interpolated point planning.
2. the method for five shaft bending machine device people cartesian trajectories planning according to claim 1, is characterized in that, utilize the exchange of Cartesian position and hybrid position in the step obtaining Descartes's interpolated point, comprise following sub-step described:
Is put Cartesian position the described whole story to be converted to and to put hybrid position the whole story;
Hybrid position interpolated point is obtained according to putting hybrid position the described whole story;
The described hybrid position interpolated point obtained is converted to Descartes's interpolated point.
3. the method for five shaft bending machine device people cartesian trajectories planning according to claim 2, is characterized in that, is converted to and puts in the sub-step of hybrid position the whole story, comprise following sub-step at described Cartesian position of being put the whole story:
Set up five axle inverse kinematics; Utilize inverse solution of described five axle inverse kinematics to put Cartesian position the described whole story, the whole story obtaining robot puts joint position; Hybrid position is put the whole story according to putting joint position the described whole story and putting Cartesian position acquisition the described whole story.
4. the method for five shaft bending machine device people cartesian trajectories planning according to claim 3, is characterized in that, set up in the sub-step of five axle inverse kinematics described, utilize DH parametric method to set up five axle inverse kinematics.
5. the method for five shaft bending machine device people cartesian trajectories planning according to claim 2, is characterized in that, be converted in the sub-step of Descartes's interpolated point, comprise following sub-step at the described hybrid position interpolated point by acquisition:
Set up five axle positive kinematics; The interpolated point joint position of robot is obtained according to described hybrid position interpolated point; Interpolated point joint position described in normal solution, obtains described interpolated point Cartesian position.
6. the method for five shaft bending machine device people cartesian trajectories planning according to claim 5, is characterized in that, set up in the sub-step of five axle inverse kinematics described, utilize DH parametric method to set up five axle positive kinematics.
7. the method for five shaft bending machine device people cartesian trajectories planning according to claim 2, is characterized in that, in the acquisition process of described hybrid position interpolated point, adopt the planning amount of predetermined speed.
8., for a device for five shaft bending machine device people cartesian trajectories planning, it is characterized in that, comprise:
Track determination module, for determining that the whole story of robot puts Cartesian position and track; Wherein, described Cartesian position comprises: based on positional information and the attitude information of coordinate system;
Whether detection module is that track is followed in bending for detecting described track; And detect be bending follow track time, directly obtain Descartes's interpolated point of described track;
Acquisition module, for detect at described detection module be not bending follow track time, utilize the exchange of Cartesian position and hybrid position to obtain Descartes's interpolated point; Wherein, described hybrid position comprises: the positional information based on coordinate system and the anglec of rotation around y-axis and the anglec of rotation around x-axis;
Generation module, generates joint of robot interpolated point for the Descartes's interpolated point obtained according to described detection module or described acquisition module;
Planning module, the joint Descartes's interpolated point for generating according to described generation module plans the cartesian trajectories of described five shaft bending machine device people.
9. the device for five shaft bending machine device people cartesian trajectories planning according to claim 8, it is characterized in that, described acquisition module comprises following submodule:
First transform subblock, is converted to puts hybrid position for being put Cartesian position the described whole story whole story;
Obtain submodule, for obtaining hybrid position interpolated point according to putting hybrid position the described whole story after described first transform subblock conversion;
Second transform subblock, is converted to Descartes's interpolated point for the described hybrid position interpolated point obtained by described acquisition submodule.
10. the device for five shaft bending machine device people cartesian trajectories planning according to claim 9, it is characterized in that, described first transform subblock comprises following submodule:
Set up submodule, for setting up five axle inverse kinematics;
Inverse solution submodule, for utilizing the described five axle inverse kinematics set up submodule and set up, inverse solution puts Cartesian position the described whole story, and the whole story obtaining robot puts joint position;
Hybrid position obtains submodule, for putting hybrid position the whole story according to putting joint position and put Cartesian position acquisition the described whole story the described inverse described whole story of separating submodule acquisition.
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| CN113894795A (en) * | 2021-11-17 | 2022-01-07 | 青岛九维华盾科技研究院有限公司 | Method for optimizing position of external shaft of industrial robot |
| CN113894795B (en) * | 2021-11-17 | 2023-11-28 | 青岛九维华盾科技研究院有限公司 | Industrial robot external shaft position optimization method |
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