CN105619409B - Manual teaching robot's action optimized treatment method - Google Patents

Abstract

Existing robot motion data can be directed to the invention provides a kind of manual teaching robot's action optimized treatment method, transport, output optimization numerical value are substituted into by Partitioning optimization region, the cubic spline curve for seeking rotary motion trace, interpolation, so as to adjust the rotational parameters list of its each joint shaft, making the movement locus of robot becomes more smooth, steady.

Description

Manual teaching robot's action optimized treatment method

Technical field

The present invention relates to manipulator technical field, particularly a kind of manual teaching robot's action optimized treatment method.

Background technology

Manual teaching robot sample code device data in manually dragging teaching obtain the movement locus number of robot According to, because dragging process uneven may make it that the load of robot reproduction operation is larger, especially when needing speed-raising operation, If do not processed, the acceleration after speed-raising is square of speed-raising ratio, can so cause very big load, or even can cause track The excessive distortion of deviation, and parts can be caused damage.Existing solution can only require that the action of teaching personnel to the greatest extent may be used Energy is steady, flow, virtually improves the use threshold of manual teaching robot, so developing a kind of for manual teaching machine The method that the exercise data of device people optimizes processing turns into urgent problem in the industry.

The content of the invention

In view of the shortcomings of the prior art, the invention provides a kind of manual teaching robot's action optimized treatment method.Should Method optimizes processing on the premise of path accuracy is ensured to its track, speed so that the reproduction operation of robot is more Steadily, particularly there is obvious improvement when raising speed operation.

The technical scheme that the present invention solves technical problem is as follows：

Manual teaching robot's action optimized treatment method, including step：

1) manual teaching robot described in, including the multi-joint arm being connected with base, the connection of multi-joint arm and base is closed Each joint of section and multi-joint arm itself is connected by joint shaft, the also action including detecting and recording joint shaft The encoder of situation, makes manual teaching robot obtain raw motion data by way of human hand drags multi-joint arm teaching；

2) isolates each joint shaft of multi-joint arm using unit interval Δ t as the original of interval from raw motion data The action parameter list of measuring point, the original record point is respectively labeled as P_n, subscript n is natural number；

3) loads the acceleration early warning value a of each joint shaft_{It is alert}, a_{It is alert}=M/ (I × k)

M is the reductor rated output torque being connected with joint shaft, and I is joint shaft load rotating inertia, and k is for safety Number；

4) calculates the adjacent original record point P of joint shaft two_nBetween acceleration a_n,

s_nIt is joint shaft in original record point P_nThe radian that moment is turned over, v_nIt is joint shaft in original record point P_nMoment Angular speed, Δ v be unit time Δ t angular speed changing value；

5) judges a_nWith a_{It is alert}Relation, work as a_n≥a_{It is alert}Then mark current original record point P_nRepresentative mark point is interval Division points P_N', subscript N is natural number；

6) makes n+1, repeat step make 3)~5) until completing all a_nWith a_{It is alert}Contrast；

7) is with interval division point P_N' joint shaft action parameter list is divided into N number of optimization interval, for each optimization There is the cubic spline curve of joint shaft rotary motion trace in interval：

Constraints：

S (t) is function of the interval intrinsic articulation axle rotary motion trace radian of optimization to the time, and S ' (t) is S (t) to the one of the time Order derivative, S " (t) is S (t) to the second dervative of time, s_NFor interval division point P_N' radian that is turned over of moment, v_NFor interval Division points P_N' moment angular speed, solve respectively each optimization it is interval in cubic spline curve function coefficient a_N、b_N、c_N、d_N, Obtain the interval cubic spline curve equation of the optimization；

8) Ding Lixin controlling cycle time T, correspondence markings are optimization measuring point P_A, according to step 7) obtained by it is each The interval cubic spline curve equation of individual optimization, enters row interpolation by controlling cycle time T and tries to achieve with joint shaft in optimization measuring point P_AThe radian s that moment is turned over_A：

s_A=S (T)=a_NT³+b_NT²+c_NT+d_N

Wherein a_N、b_N、c_N、d_NBy optimization measuring point P_AResiding optimization interval is determined；

9) repeat steps 8) until trying to achieve all optimization measuring point P_AThe radian s that moment is turned over_A, that is, obtain optimization action Data；

10) is loaded into manual teaching robot's processor again by action data is optimized.

When optimization action data of the present invention is loaded into manual teaching robot's processor, its action parameter list is also stored Corresponding output gap time Δ t '.

Unit interval Δ t of the present invention is 20ms.Controlling cycle time T is 5ms.

The manual teaching robot action optimized treatment method that the present invention is provided can be directed to existing robot motion number According to by Partitioning optimization region, the cubic spline curve for seeking rotary motion trace, interpolation substitution transport, output optimization numerical value, so as to adjust The rotational parameters list of its whole each joint shaft, making the movement locus of robot becomes more smooth, steady.

Brief description of the drawings

Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be to that will make needed for embodiment description Accompanying drawing is briefly described.Obviously, described accompanying drawing is a part of embodiment of the present invention, rather than is all implemented Example, those skilled in the art on the premise of not paying creative work, can also obtain other designs according to these accompanying drawings Scheme and accompanying drawing.

Fig. 1 is the FB(flow block) that treatment method is applied on manual teaching robot；

Fig. 2 is the rotary motion trace curve map before the optimization of six-joint robot J3 axles；

Fig. 3 is the speed curve diagram before the optimization of six-joint robot J3 axles；

Fig. 4 is the rotary motion trace curve map after the optimization of six-joint robot J3 axles；

Fig. 5 is the speed curve diagram after the optimization of six-joint robot J3 axles.

Embodiment

The technique effect of the design of the present invention, concrete structure and generation is carried out below with reference to embodiment and accompanying drawing clear Chu, it is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair Bright a part of embodiment, rather than whole embodiments, based on embodiments of the invention, those skilled in the art is not paying The other embodiment obtained on the premise of creative work, belongs to the scope of protection of the invention.In addition, be previously mentioned in text All connection/annexations, not singly refer to component and directly connect, and refer to be added deduct by adding according to specific implementation situation Few couple auxiliary, to constitute more excellent draw bail.Each technical characteristic in the invention, in not conflicting conflict Under the premise of can be with combination of interactions.

As shown in figure 1, acting optimized treatment method, including step for the manual teaching robot with manual tutorial function Suddenly：

1) manual teaching robot described in, including the multi-joint arm being connected with base, the connection of multi-joint arm and base is closed Each joint of section and multi-joint arm itself is connected by joint shaft, the also action including detecting and recording joint shaft The encoder of situation, makes manual teaching robot obtain raw motion data by way of human hand drags multi-joint arm teaching；

2) isolates each joint shaft of multi-joint arm using unit interval Δ t as the original of interval from raw motion data The action parameter list of measuring point, the original record point is respectively labeled as P_n, subscript n is natural number；

3) loads the acceleration early warning value a of each joint shaft_{It is alert}, a_{It is alert}=M/ (I × k)

M is the reductor rated output torque being connected with joint shaft, and I is joint shaft load rotating inertia, and k is for safety Number；

4) calculates the adjacent original record point P of joint shaft two_nBetween acceleration a_n,

s_nIt is joint shaft in original record point P_nThe radian that moment is turned over, v_nIt is joint shaft in original record point P_nMoment Angular speed, Δ v be unit time Δ t angular speed changing value；

5) judges a_nWith a_{It is alert}Relation, as an >=a_{It is alert}Then mark current original record point P_nRepresentative mark point is interval Division points P_N', subscript N is natural number；

6) makes n+1, repeat step make 3)~5) until completing all a_nWith a_{It is alert}Contrast；

7) is with interval division point P_N' joint shaft action parameter list is divided into N number of optimization interval, for each optimization There is the cubic spline curve of joint shaft rotary motion trace in interval：

Constraints：

S (t) is function of the interval intrinsic articulation axle rotary motion trace radian of optimization to the time, and S ' (t) is S (t) to the one of the time Order derivative, S " (t) is S (t) to the second dervative of time, s_NFor interval division point P_N' radian that is turned over of moment, v_NFor interval Division points P_N' moment angular speed, solve respectively each optimization it is interval in cubic spline curve function coefficient a_N、b_N、c_N、d_N, Obtain the interval cubic spline curve equation of the optimization；

8) Ding Lixin controlling cycle time T, correspondence markings are optimization measuring point P_A, according to step 7) obtained by it is each The interval cubic spline curve equation of individual optimization, enters row interpolation by controlling cycle time T and tries to achieve with joint shaft in optimization measuring point P_AThe radian s that moment is turned over_A：

s_A=S (T)=a_NT³+b_NT²+c_NT+d_N

Wherein a_N、b_N、c_N、d_NBy optimization measuring point P_AResiding optimization interval is determined；

9) repeat steps 8) until trying to achieve all optimization measuring point P_AThe radian s that moment is turned over_A, that is, obtain optimization action Data；

10) is loaded into manual teaching robot's processor again by action data is optimized.

It is further used as preferred embodiment, when the optimization action data is loaded into manual teaching robot's processor, Its action parameter list also stores corresponding output gap time Δ t '.Adjustment Δ t ' length can integrally change manual teaching Machine task efficiency, as Δ t ' ＜ Δ t, the action of manual teaching robot is accelerated；As Δ t ' ＞ Δ t, show manually The action of religion robot is slowed down.

It is further used as preferred embodiment, the unit interval Δ t is 20ms.Controlling cycle time T is 5ms。

As shown in Figures 2 and 3, the data of table 1 are one group of raw motion data on J3 axles that teaching is recorded, due to the machine Device people drives joint shaft using servomotor, so the radian that joint shaft is turned over is substituted with pulse value.In the 8th original record point P₈Acceleration a is detected at the time of=140 milliseconds₈Value exceeds early warning value a_{It is alert}, so being divided into an optimization area by 0~140 millisecond Between.

Table 1

1) the interval cubic spline curve equation of the optimization is solved：

2) the cubic spline curve equation for solving the interval rotary motion trace of the optimization is：

S (t)=- 0.00066t³+0.0964t²+22.9t+6531

3) enter row interpolation to the curve to obtain as shown in Figures 4 and 5, action data is optimized in table 2：

Table 2

The better embodiment to the present invention is illustrated above, but the invention is not limited to the implementation Example, those of ordinary skill in the art can also make a variety of equivalent modifications or replace on the premise of without prejudice to spirit of the invention Change, these equivalent modifications or replacement are all contained in the application claim limited range.

Claims (3)

1. manual teaching robot acts optimized treatment method, including step：

1) the connection joint of manual teaching robot described in, including the multi-joint arm being connected with base, multi-joint arm and base with And joint shaft that each joint of multi-joint arm itself is connected, the also action situation including detecting and recording joint shaft Encoder, makes manual teaching robot obtain raw motion data by way of human hand drags multi-joint arm teaching；

2) isolates original record of each joint shaft of multi-joint arm using unit interval Δ t as interval from raw motion data The action parameter list of point, the original record point is respectively labeled as P_n, subscript n is natural number；

3) loads the acceleration early warning value a of each joint shaft_{It is alert}, a_{It is alert}=M/ (I × k)

M is the reductor rated output torque being connected with joint shaft, and I is joint shaft load rotating inertia, and k is safety coefficient；

4) calculates the adjacent original record point P of joint shaft two_nBetween acceleration a_n,

$\left\{\begin{array}{c}{a}_n=\mathrm{\Δ}v/\mathrm{\Δ}t\\ v_n=s_{n+1}-s_n\\ v_{n+1}=s_{n+2}-s_{n+1}\\ \mathrm{\Δ}v=v_{n+1}-v_n\end{array}\right.$

s_nIt is joint shaft in original record point P_nThe radian that moment is turned over, v_nIt is joint shaft in original record point P_nThe angle speed at moment Degree, Δ v is the changing value of unit time Δ t angular speed；

5) judges a_nWith a_{It is alert}Relation, work as a_n≥a_{It is alert}Then mark current original record point P_nRepresentative mark point is interval division Point P_N', subscript N is natural number；

6) makes n+1, repeat step make 3)~5) until completing all a_nWith a_{It is alert}Contrast；

7) is with interval division point P_N' joint shaft action parameter list is divided into N number of optimization interval, it is interval for each optimization There is the cubic spline curve of joint shaft rotary motion trace：

$\left\{\begin{array}{c}S\left(t\right)=a_N{t}^3+b_N{t}^2+c_{N}t+d_N\\ S^{,}\left(t\right)=3a_N{t}^2+2b_{N}t+c_N\\ S^{,,}\left(t\right)=6a_{N}t+2b_N\end{array}\right.$

Constraints：

$\left\{\begin{array}{c}S\left(0\right)=s_N\\ S^{,}\left(0\right)=v_N\end{array}\right.$

S (t) is function of the interval intrinsic articulation axle rotary motion trace radian of optimization to the time, and S ' (t) leads for S (t) to the single order of time Number, S " (t) is S (t) to the second dervative of time, s_NFor interval division point P_N' radian that is turned over of moment, v_NFor interval division Point P_N' moment angular speed, solve respectively each optimization it is interval in cubic spline curve function coefficient a_N、b_N、c_N、d_N, obtain The interval cubic spline curve equation of the optimization；

8) Ding Lixin controlling cycle time T, correspondence markings are optimization measuring point P_A, according to step 7) obtained by each optimization Interval cubic spline curve equation, enters row interpolation by controlling cycle time T and tries to achieve with joint shaft in optimization measuring point P_AMoment The radian s turned over_A：

s_A=S (T)=a_NT³+b_NT²+c_NT+d_N

Wherein a_N、b_N、c_N、d_NBy optimization measuring point P_AResiding optimization interval is determined；

9) repeat steps 8) until trying to achieve all optimization measuring point P_AThe radian s that moment is turned over_A, that is, obtain optimization action number According to.

2. manual teaching robot's action optimized treatment method according to claim 1, it is characterised in that：Also include step Suddenly：

10) is loaded into manual teaching robot's processor again by action data is optimized.

3. manual teaching robot's action optimized treatment method according to claim 2, it is characterised in that：The optimization is dynamic When making the data manual teaching robot's processor of loading, its action parameter list also stores corresponding output gap time Δ t '.