CN105965512B - A kind of motion reappearance method of industry Multi-shaft mechanical arm - Google Patents
A kind of motion reappearance method of industry Multi-shaft mechanical arm Download PDFInfo
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- CN105965512B CN105965512B CN201610557110.7A CN201610557110A CN105965512B CN 105965512 B CN105965512 B CN 105965512B CN 201610557110 A CN201610557110 A CN 201610557110A CN 105965512 B CN105965512 B CN 105965512B
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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
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
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Abstract
The present invention provides a kind of motion reappearance method of industrial Multi-shaft mechanical arm, and the method need to provide Multi-shaft mechanical arm, mechanical arm controller, host computer and industrial personal computer；The data communication between host computer and mechanical arm controller is realized using industrial personal computer and Ethernet；When Multi-shaft mechanical arm operation, according to the sampling period set, the kinematic parameter in Multi-shaft mechanical arm motion process is acquired in real time, and by kinematic parameter storage into host computer；When needing reproduction of moving track, the kinematic parameter of record is reappeared into the period according to the sequence of record and the data of setting, is successively sent to mechanical arm controller, control completely reproduces entire operation process.The motion reappearance method that the present invention solves existing industrial Multi-shaft mechanical arm requires user's profession high, cannot accurately to reproduce the motion profile in teaching, reproduce modification of program difficulty and trouble shoot inconvenience technical problem.
Description
Technical field
The invention belongs to industrial machinery arm movement control technology field more particularly to a kind of movements of industrial Multi-shaft mechanical arm
Reproducting method.
Background technique
Teaching playback based on mechanical arm teaching-programming pendant is to realize the most common method of Multi-shaft mechanical arm motion reappearance.It is existing
The Multi-shaft mechanical arm applied in the industry mostly has the function of teaching playback, what repeatable reproduction was got up by teaching program storage
Operation procedure.The program capability of multi-spindle machining arm system greatly determines that Multi-shaft mechanical arm uses the flexibility and intelligence of function
Degree.
In above-mentioned teaching playback method, common problem has: (1) the necessary prepared in advance or teaching of motion reappearance program, right
The professional knowledge requirement of the operator of Multi-shaft mechanical arm is relatively high, brings obstruction for widening for Multi-shaft mechanical arm application field；(2)
When to change reproduction program, user, which needs to modify to operation procedure, even to be rewritten, and this requires users to have
Certain programming knowledge takes a significant amount of time study and writes program；(3) it during teaching, generally requires using specific
Algorithm is calculated corresponding motion profile according to the teaching point data of record, is then forwarded to mechanical arm and controls its movement, this
It can guarantee the precision of recorded taught point pose, but can not accurately reappear the motion profile between taught point, be suitable for point-to-point
With the occasion for not needing very exact path control；(4) during motion reappearance, the correlation of mechanical arm operation can not be recorded in real time
Parameter is unfavorable for carrying out accident analysis in malfunction elimination.
" a kind of industrial robot teaching reproducting method " is disclosed in the prior art, sees Publication No.: 103778843A, it is public
Open day are as follows: the Chinese patent of 2014-05-07, method includes the following steps: 1, teaching: 2, reproducing: wherein reproducing and be divided into three kinds
Mode: 2.1, when industrial robot end movement be joint motions: 2.2, when industrial robot end movement be linear motion:
2.3, industrial robot end movement is not mentionleted alone bright for the circular motion time-division, and it is simple, accurate that the invention provides a kind of teaching processes
GUIDANCE FOR AUTONOMIC GUIDED VEHICLES.Teaching process includes the additional information to work record, the robot of taught point and arrives each taught point
Corresponding operating record.The instruction of the machine humanoid robot include movement instruction, logical order, operational order, work order and
Auxiliary instruction.These instructions, which integrate, can complete expected work.The invention provides three kinds of robot motion tracks to calculate
Method, and combine kinematic parameter (each axis rotational angle, the displacement of each axis and the robot end of robot taught point A and taught point B
Hold pose), three kinds of different motion profiles are obtained by analytical calculation, the motion profile control robot recycled realizes
Motion reappearance.Although this method can guarantee the pose accuracy of robot teaching point A and taught point B, but robot kinematics
Motion profile is can not accurately to reproduce the motion profile in teaching made of being calculated as algorithm.And this method can not be to machine
Kinematic parameter during device people's motion reappearance is recorded in real time, and it is big that failure reappears difficulty.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of motion reappearance method of industrial Multi-shaft mechanical arm, solve
The motion reappearance method of existing industry Multi-shaft mechanical arm requires height to user's profession, cannot accurately reproduce the movement rail in teaching
Mark, the technical problem for reproducing modification of program difficulty and trouble shoot inconvenience.
The present invention is implemented as follows: a kind of motion reappearance method of industry Multi-shaft mechanical arm, the method need to provide more
Shaft mechanical arm, mechanical arm controller, host computer and industrial personal computer；Host computer and mechanical arm are realized using industrial personal computer and Ethernet
Data communication between controller；
When Multi-shaft mechanical arm operation, according to the sampling period set, acquire in Multi-shaft mechanical arm motion process in real time
Kinematic parameter, and by kinematic parameter storage into host computer；When needing reproduction of moving track, by the kinematic parameter root of record
Reappear the period according to the sequence of record and the data of setting, be successively sent to mechanical arm controller, control completely reproduces entire operation
Process.
Further, the method further includes: after breaking down in Multi-shaft mechanical arm operation, will be stored in upper
The kinematic parameter in machine is successively sent to Multi-shaft mechanical arm, it is made to reproduce entire operation process, checks failure convenient for user.
Further, in all motion processes of Multi-shaft mechanical arm, all it is capable of real-time acquisition and saves Multi-shaft mechanical arm movement
Kinematic parameter in the process, the kinematic parameter include: mechanical arm rotation angle, terminal position data, each axis angular displacement and angle
Speed.
Further, described in all motion processes of Multi-shaft mechanical arm, all it is capable of real-time acquisition and saves Multi-shaft mechanical arm
Kinematic parameter in motion process, specifically:
In Multi-shaft mechanical arm motion process, according to the sampling period of setting, host computer is acquired in real time by configuration software
Multi-shaft mechanical arm, the kinematic parameter including mechanical arm rotation angle, terminal position data, each axis angular displacement and angular speed,
And kinematic parameter is corresponded into corresponding time quantum, it is sequentially stored in host computer；
It, also can be according to the sampling period of setting, by the rotation of mechanical arm during Multi-shaft mechanical arm carries out motion reappearance
Gyration, terminal position data and each axis angular displacement and angular speed are successively recorded and stored into host computer.
Further, the method further includes: can at any time, under free position, using being recorded in host computer
In historical data, quickly reproduce mechanical arm any time period three-dimensional motion process, the original state of the mechanical arm reproduced,
End-state and completely the same, the specific reality of course motion track and the three-dimensional motion process for reproducing mechanical arm any time period
Apply that steps are as follows:
After mechanical arm completes certain set, host computer reads the associ-ated motion parameters that store in host computer, according to when
Between in region time quantum put in order, successively by corresponding mechanical arm rotational angle, terminal position, each axis angular displacement and angle
Speed parameter is sent to mechanical arm controller, and each axis movement of control mechanical arm is moved to completely reproduce mechanical arm and complete a certain group
The motion process of work, repetitive positioning accuracy are high；
User also can only choose some period in the be subordinate to time zone of group movement, should to control mechanical arm reproduction
Some movement or multiple movements in group movement, to realize the flexible variation of motion reappearance.
Further, in motion reappearance, adding for motion history process is realized by adjusting the data recovery refresh cycle
Slow down and reproduces；Specific implementation step is as follows:
When the acceleration or deceleration for needing to realize robot section motion history process reproduces, the data reproduction period is carried out
Change, host computer will according to data reappear period and sampling period ratio, respectively to data transmission time interval and remembered
Each axis angular rate of record carries out the amplification and diminution of equal proportion；
Host computer is according to changed data Transmission Time Interval, successively by mechanical arm rotational angle, terminal position, each axis
Angular speed after angular displacement and scaling is sent to mechanical arm controller, each axis movement of control mechanical arm, to realize motion history
The acceleration and deceleration of process reproduce.
Further, when Multi-shaft mechanical arm failure needs to reappear, the fault time area being stored in host computer
The kinematic parameter in domain is sent to mechanical arm controller as mechanical arm control parameter, and control mechanical arm reproduces entire failure
Process；The specific steps of which are as follows:
Step 1, according to time of failure, the selected time zone for needing to carry out motion reappearance；
Step 2, host computer are by the kinematic parameter in the fault time region stored in host computer, according to time list
The sequence of member is successively sent to mechanical arm controller；
Step 3, mechanical arm controller drive mechanical arm to reproduce operation process according to the control and kinematic parameter received,
To realize recurrence of failure.
The present invention has the advantage that the 1, present invention can be by the mechanical arm rotation angle in Multi-shaft mechanical arm motion process
Degree, terminal position data, each axis angular displacement and angular speed are recorded, and are stored in host computer, to study Multi-shaft mechanical arm
Motion process provides great convenience.
2, the present invention may be implemented at any time, under free position, it is complete to reproduce Multi-shaft mechanical arm any time region
Interior three-dimensional motion process, and can ensure that playback accuracy.And user's need not have programming basis also can operating robotic arm realization
Motion reappearance, operating process is simple, and work efficiency is high, to be conducive to the application and popularization of robot in actual production.
3, in motion reappearance, the acceleration and deceleration of motion history process can be realized by adjusting the data recovery refresh cycle
The diversity of motion reappearance is realized in reproduction, expands the operation strategies of robot in actual production.
4, after Multi-shaft mechanical arm sends failure, it can call failure that the record data of moment affiliated time zone occur,
It realizes the complete replication of failure, carries out fault diagnosis, reparation and analysis convenient for user.
Detailed description of the invention
Fig. 1 is the method for the present invention flow diagram.
Fig. 2 is that the present invention relates to the architecture diagrams of hardware.
Fig. 3 is kinematic parameter Stored Procedure figure of the present invention.
Fig. 4 is motion reappearance flow chart of the present invention.
Specific embodiment
Shown in please referring to Fig.1 to Fig.4, a kind of motion reappearance method of industrial Multi-shaft mechanical arm of the invention, the method
Multi-shaft mechanical arm, mechanical arm controller, host computer and industrial personal computer need to be provided；Host computer is realized using industrial personal computer and Ethernet
With the data communication between mechanical arm controller；
When Multi-shaft mechanical arm operation, according to the sampling period set, acquire in Multi-shaft mechanical arm motion process in real time
Kinematic parameter, and by kinematic parameter storage into host computer；
When needing reproduction of moving track, the kinematic parameter of record is reappeared into week according to the sequence of record and the data of setting
Phase, it is successively sent to mechanical arm controller, control completely reproduces entire operation process, it can be achieved that both accurate reproductions of fixed track.
After breaking down in Multi-shaft mechanical arm operation, the kinematic parameter being stored in host computer is successively sent to
Multi-shaft mechanical arm makes it reproduce entire operation process, checks failure convenient for user.
As shown in Fig. 2, whole system framework of the invention is by Multi-shaft mechanical arm, mechanical arm its controller, host computer and work
Control machine composition, system realize the data communication between host computer and multi-spindle machining arm controller using industrial personal computer and Ethernet,
So that host computer is acquired the kinematic parameter of the Multi-shaft mechanical arm currently acted in real time, and saves it in host computer.
The kinematic parameter includes mechanical arm rotation angle, terminal position data, each axis angular displacement and angular speed.In addition to this, may be used also
To regularly send the motion control of control and motion parameter data to Multi-shaft mechanical arm realization to mechanical arm.
In all motion processes of Multi-shaft mechanical arm, the fortune that is all capable of real-time acquisition and saves in Multi-shaft mechanical arm motion process
Dynamic parameter, the kinematic parameter include: mechanical arm rotation angle, terminal position data, each axis angular displacement and angular speed.
Specific implementation step is as follows:
1) in Multi-shaft mechanical arm motion process, according to the sampling period of setting, host computer is adopted in real time by configuration software
Collect kinematic parameter of the mechanical arm including mechanical arm rotation angle, terminal position data, each axis angular displacement and angular speed, and will
It corresponds to corresponding time quantum, is sequentially stored in host computer；
It 2), also can be according to the sampling period of setting, by mechanical arm during Multi-shaft mechanical arm carries out motion reappearance
Rotation angle, terminal position data and each axis angular displacement and angular speed are successively recorded and stored into host computer.
Example 1, the recording and storage mode example of kinematic parameter.Referring to table 1: manipulator motion parameter stores example.
Table 1
In addition, the present invention can at any time, under free position, using the historical data being recorded in host computer, quickly
Reproduce the three-dimensional motion process of mechanical arm any time period, original state, end-state and the process of the mechanical arm reproduced
Motion profile is with the completely the same of the three-dimensional motion process of reproduction mechanical arm any time period, it can be achieved that the essence of entire motion process
Really reproduction.
Specific implementation step is as follows:
1) after mechanical arm completes certain set, host computer reads the associ-ated motion parameters stored in host computer, according to
Time quantum puts in order in time zone, successively by corresponding mechanical arm rotational angle, terminal position, each axis angular displacement and
Angular speed parameter is sent to mechanical arm controller, each axis movement of control mechanical arm, so that completely reproducing mechanical arm completes a certain group
The motion process of movement, repetitive positioning accuracy are high.
2) user can also only choose some period in the be subordinate to time zone of group movement, to control mechanical arm again
Some movement or multiple movements in now group movement, to realize the flexible variation of motion reappearance.
A kind of motion reappearance method of industrial Multi-shaft mechanical arm of the invention can be by adjusting number in motion reappearance
Realize that the acceleration and deceleration of motion history process are reproduced according to the refresh cycle is restored.
Specific implementation step is as follows:
1) when the acceleration or deceleration for needing to realize robot section motion history process reproduces, can be reappeared to data week
Phase is modified, and host computer will reappear the ratio in period and sampling period according to data, respectively to the time interval of data transmission
The amplification and diminution of equal proportion are carried out with each axis angular rate recorded.
2) host computer is according to changed data Transmission Time Interval, successively by mechanical arm rotational angle, terminal position, each
Angular speed after axis angular displacement and scaling is sent to mechanical arm controller, each axis movement of control mechanical arm, to realize that movement is gone through
The acceleration and deceleration of history process reproduce.
What needs to be explained here is that: the present invention can call the record of the period after Multi-shaft mechanical arm breaks down
Data, realize failure reproduction, carry out malfunction elimination convenient for user.
It, can be in the fault time region being stored in host computer when Multi-shaft mechanical arm failure needs to reappear
The kinematic parameter is sent to mechanical arm controller as mechanical arm control parameter, and control mechanical arm reproduces entire failure process.
The specific steps of which are as follows:
Step 1, according to time of failure, the selected time zone for needing to carry out motion reappearance；
Step 2, host computer are by the kinematic parameter in the fault time region stored in host computer, according to time list
The sequence of member is successively sent to the controller of mechanical arm；
Step 3, controller drive mechanical arm to reproduce operation process according to the control and kinematic parameter received, thus real
Existing recurrence of failure.
In short, the motion reappearance method that the present invention is used to solve existing industrial Multi-shaft mechanical arm requires height to user's profession,
The technical problem that the motion profile in teaching cannot accurately be reproduced, reproduce modification of program difficulty and trouble shoot inconvenience.
The foregoing is merely presently preferred embodiments of the present invention, all equivalent changes done according to scope of the present invention patent with
Modification, is all covered by the present invention.
Claims (6)
1. a kind of motion reappearance method of industry Multi-shaft mechanical arm, it is characterised in that: the method need to provide Multi-shaft mechanical arm, machine
Tool arm controller, host computer and industrial personal computer；It is realized between host computer and mechanical arm controller using industrial personal computer and Ethernet
Data communication；
When Multi-shaft mechanical arm operation, according to the sampling period set, the fortune in Multi-shaft mechanical arm motion process is acquired in real time
Dynamic parameter, and by kinematic parameter storage into host computer；When needing reproduction of moving track, by the kinematic parameter of record according to note
The sequence of record and the data of setting reappear the period, are successively sent to mechanical arm controller, and control completely reproduces entire operation process；
The method further includes: can at any time, under free position, using the historical data being recorded in host computer, quickly
Reproduce the three-dimensional motion process of mechanical arm any time period, original state, end-state and the process of the mechanical arm reproduced
Motion profile is completely the same with the three-dimensional motion process of reproduction mechanical arm any time period, and specific implementation step is as follows:
After mechanical arm completes certain set, host computer reads the kinematic parameter stored in host computer, according to time zone
Time quantum puts in order in domain, successively by corresponding mechanical arm rotational angle, terminal position, each axis angular displacement and angular speed
Parameter is sent to mechanical arm controller, each axis movement of control mechanical arm, so that completely reproducing mechanical arm completes certain set
Motion process, repetitive positioning accuracy are high；
User also can only choose the group and act some period in be subordinate to time zone, and reproducing the group to control mechanical arm moves
Some movement or multiple movements in work, to realize the flexible variation of motion reappearance.
2. a kind of motion reappearance method of industrial Multi-shaft mechanical arm according to claim 1, it is characterised in that: the method
Further comprise: after breaking down in Multi-shaft mechanical arm operation, the kinematic parameter being stored in host computer successively being sent out
Multi-shaft mechanical arm is given, it is made to reproduce entire operation process, checks failure convenient for user.
3. a kind of motion reappearance method of industrial Multi-shaft mechanical arm according to claim 1, it is characterised in that: in multiaxis machine
In all motion processes of tool arm, the kinematic parameter for being all capable of real-time acquisition and saving in Multi-shaft mechanical arm motion process, the movement
Parameter includes: mechanical arm rotation angle, terminal position data, each axis angular displacement and angular speed.
4. a kind of motion reappearance method of industrial Multi-shaft mechanical arm according to claim 3, it is characterised in that: described more
In all motion processes of shaft mechanical arm, the kinematic parameter for being all capable of real-time acquisition and saving in Multi-shaft mechanical arm motion process, specifically
Are as follows:
In Multi-shaft mechanical arm motion process, according to the sampling period of setting, host computer acquires multiaxis by configuration software in real time
Mechanical arm, the kinematic parameter including mechanical arm rotation angle, terminal position data, each axis angular displacement and angular speed, and will
Kinematic parameter corresponds to corresponding time quantum, is sequentially stored in host computer；
It, also can be according to the sampling period of setting, by the rotation angle of mechanical arm during Multi-shaft mechanical arm carries out motion reappearance
Degree, terminal position data and each axis angular displacement and angular speed are successively recorded and stored into host computer.
5. a kind of motion reappearance method of industrial Multi-shaft mechanical arm according to claim 1, it is characterised in that: moving again
Now, realize that the acceleration and deceleration of motion history process are reproduced by adjusting the data recovery refresh cycle；Specific implementation step is as follows:
When the acceleration or deceleration for needing to realize robot section motion history process reproduces, the data reproduction period is carried out more
Change, host computer will according to data reappear period and sampling period ratio, respectively to data transmission time interval and recorded
Each axis angular rate carry out equal proportion amplification and diminution；
Host computer is according to changed data Transmission Time Interval, successively by mechanical arm rotational angle, terminal position, each shaft angle position
Angular speed after moving and scaling is sent to mechanical arm controller, each axis movement of control mechanical arm, to realize motion history process
Acceleration and deceleration reproduce.
6. a kind of motion reappearance method of industrial Multi-shaft mechanical arm according to claim 1, it is characterised in that:
When Multi-shaft mechanical arm failure needs to reappear, the movement in the fault time region being stored in host computer
Parameter is sent to mechanical arm controller as mechanical arm control parameter, and control mechanical arm reproduces entire failure process；It is specifically walked
It is rapid as follows:
Step 1, according to time of failure, the selected time zone for needing to carry out motion reappearance；
Step 2, host computer are by the kinematic parameter in the fault time region stored in host computer, according to time quantum
Sequence is successively sent to mechanical arm controller；
Step 3, mechanical arm controller drive mechanical arm to reproduce operation process according to the control and kinematic parameter received, thus
Realize recurrence of failure.
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106346478A (en) * | 2016-11-09 | 2017-01-25 | 广州视源电子科技股份有限公司 | Control method and device for mechanical arm |
| CN107270854B (en) * | 2017-05-12 | 2020-02-21 | 哈工大机器人集团股份有限公司 | Robot repeated positioning precision detection device |
| CN107247854A (en) * | 2017-07-03 | 2017-10-13 | 京东方科技集团股份有限公司 | Method and device, the system restored for equipment fault |
| CN107717983A (en) * | 2017-08-21 | 2018-02-23 | 北京精密机电控制设备研究所 | A kind of apery mechanical arm teaching control method |
| CN108000519A (en) * | 2017-11-24 | 2018-05-08 | 中国船舶重工集团公司第七〇九研究所 | One kind perceives memory-type mechanical arm and its application method |
| CN110370262A (en) * | 2018-04-13 | 2019-10-25 | 江门市印星机器人有限公司 | Mechanical arm action recording device |
| CN114697635B (en) * | 2020-12-31 | 2023-11-10 | 三一汽车制造有限公司 | Scene reproduction method and system of boom equipment, electronic equipment and storage medium |
| CN112720502A (en) * | 2021-01-11 | 2021-04-30 | 深圳市正运动技术有限公司 | Control method of single-multi-axis manipulator |
| CN114905500A (en) * | 2021-02-06 | 2022-08-16 | 赣州创格自动化设备有限公司 | Simple robot control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH01237802A (en) * | 1988-03-18 | 1989-09-22 | Tokico Ltd | Converter for teaching data of industrial robot |
| JPH0550388A (en) * | 1991-02-19 | 1993-03-02 | Tokico Ltd | Industrial robot |
| JP2574983B2 (en) * | 1993-04-06 | 1997-01-22 | 本田技研工業株式会社 | Multitask control system |
| CN104175029B (en) * | 2014-08-13 | 2015-11-11 | 单文博 | One exempts from programming welding robot and control method |
| CN105479431A (en) * | 2016-01-21 | 2016-04-13 | 烟台拓伟机械有限公司 | Inertial navigation type robot demonstration equipment |
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