CN105983966A - Control device and method for machine arm - Google Patents
Control device and method for machine arm Download PDFInfo
- Publication number
- CN105983966A CN105983966A CN201510078209.4A CN201510078209A CN105983966A CN 105983966 A CN105983966 A CN 105983966A CN 201510078209 A CN201510078209 A CN 201510078209A CN 105983966 A CN105983966 A CN 105983966A
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- China
- Prior art keywords
- power
- general power
- actuator shaft
- robotic arm
- rotative
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The invention discloses a control device and method for a machine arm. The machine arm is instructed in a working path, and the total power limit of all actuating shafts are set. When the instructed working path is put into trial implementation, rotation power of all the actuating shafts is recorded, and cumulative total power of all the actuating shafts is calculated on time. When the condition that the cumulative total power exceeds the total power limit is examined, the rotation power of all the actuating shafts is lowered to make the cumulative total power be not larger than the total power limit, and thus instruction working is accelerated.
Description
Technical field
The present invention relates to a kind of robotic arm, especially relate to robotic arm in teaching working path, use
To prevent robotic arm from surmounting the control device and method of translational speed boundary.
Background technology
Although robotic arm has a characteristic of flexibly quickly movement, but surmount speed envelope and move and produced
Inertia, not only allow robotic arm be accurately positioned, and the structure of robotic arm itself can be destroyed, especially
The robotic arm of its quick movement, also can injure or threaten the safety of the staff of periphery.
As shown in Figure 4, for the robotic arm 1 of prior art.The robotic arm 1 of prior art is at pedestal
On 2, if the first actuator shaft 3 drives the first arm 4, the first arm 4 sets the second actuator shaft 5 and drives
Two arms 6, and on the second arm 6, set the 3rd non-portion of actuator shaft 7 drive end 8.Robotic arm 1 utilizes control
Making the rotational angle of each actuator shaft, the position of non-portion, mobile terminal 8 to demand picks and places object.Because robot arm
Shape and the length of each arm of arm 1 are fixed, the position on each arm with drive the rotating shaft A of each arm actuator shaft, B,
And the distance of C all can measure acquisition, as long as therefore obtaining the rotating speed of each actuator shaft of robotic arm 1, so that it may
The translational speed of each point on computing machine arm 1.
Due to the distinguished point (Singularity) that robotic arm translational speed is the fastest, it is usually located at robotic arm
Periphery, therefore prior art robotic arm 1 is according to the feature of external form, selects the position of several periphery, example
Such as the rotating shaft B of the second actuator shaft 5, the 3rd actuator shaft 7 rotating shaft C, the outer end points D of the second arm 6 and end
The end points E in non-portion 8, as the control point of robotic arm 1, in robotic arm 1 moving process, with
Time monitor rotating shaft B to rotating shaft B ', rotating shaft C to rotating shaft C ', end points E to end points E ' and outer end points D
To the translational speed of outer end points D ', prevent from surmounting translational speed boundary, with machine maintenance arm 1 periphery
The safety of operation.
Teaching in prior art robotic arm 1 moves when picking and placeing object, and generally planning sets shortest path and
Good speed, makes the non-portion of end 8 of robotic arm 1 quickly arrive location with the moving-wire optimized and completes work, because of
The translational speed of this robotic arm 1 changes with the working path of teaching.Need after completing teaching to carry out tentative religion
The working path led, such as, moved the robot arm to dotted line position by the robotic arm 1 of solid line position in figure
Arm 1 '.For safeguarding the safety such as periphery operating personnel, need first to set each control point of robotic arm 1 before trying
Speed envelope.Then trying, tentative middle robotic arm 1 is by the translational speed of surveillance monitor point, false
If rotating shaft B in control point is to rotating shaft B ', rotating shaft C is to rotating shaft C ', end points E to end points E ' and outer end points
D all moves not over speed envelope to outer end points D ', then hold the end points E in non-portion 8 will be according to setting
Path optimizing 9 and speed, end points the E movement smoothed out to end points E '.
Move on the contrary, once have a control point to surmount speed envelope at tentative middle robotic arm 1, existing
The robotic arm 1 of technology will stop mobile immediately, with upkeep operation safety, and wait that operating personnel is one by one
Again planning sets the translational speed of each arm or boundary of regulating the speed, then restarts robotic arm continuation examination
OK.The most usually need repeatedly to revise setting, could time-consumingly complete the teaching operation of robotic arm, allow machine
Device arm carries out safely production operation.The most separately there is prior art, select the monitoring that robotic arm 1 monitors
Maximum translational speed in point, compares with the speed envelope set, once surmounts translational speed boundary,
Can automatically reduce below the speed envelope of translational speed extremely setting of control point, be further continued for trying.
But, when prior art surmounts translational speed boundary in control point, single control point downgrade movement
Speed, changes the end points E making robotic arm to mobile route 10, and the teaching causing deviation to optimize moves
Dynamic path and speed, increase the working time of robotic arm, causes the production efficiency reducing robotic arm.
It addition, prior art robotic arm selects control point, the shifting of each control point on need computing machine arm one by one
Dynamic speed, monitor mode is complex, especially increasingly difficult to the robotic arm that multiaxis is overlapping.Therefore,
Robotic arm is in the control method of speed envelope, the most problematic urgently to be resolved hurrily.
Summary of the invention
It is an object of the invention to provide the control device and method of a kind of robotic arm, by setting all
The general power boundary of actuator shaft, controls the rotative power of actuator shaft, limits the translational speed of each arm, with letter
Change tentative operation.
Another object of the present invention is to provide the control device and method of a kind of robotic arm, and comparison respectively activates
The accumulation general power of axle exceedes the general power boundary of setting, and equal proportion downgrades the rotative power of each actuator shaft,
To maintain the working path and speed optimized.
Still a further object of the present invention is to provide the control device and method of a kind of robotic arm, utilizes general power
Boundary and the ratio of accumulation general power, downgrade the rotative power of each actuator shaft, to have accelerated to instruct operation.
In order to reach the purpose of aforementioned invention, the control device of the robotic arm of the present invention, utilize general power
Setup unit provides the general power boundary of the rotative power setting actuator shaft, power monitoring unit record and prison
Depending on the rotative power of actuator shaft, power comparison module timing adds up the rotative power of actuator shaft and always forms accumulation
Power, and with set general power boundary G comparison, to check whether accumulation general power exceedes general power circle
Limit, power adjustment unit, when accumulation general power exceedes general power boundary, calculates general power boundary and accumulation
The ratio of general power, with the ratio not less than general power boundary Yu accumulation general power, equal proportion downgrades actuating
The rotative power of axle, makes the accumulation general power downgraded be not more than general power boundary, and driver element receives power
Adjustment unit downgrades the signal of the rotative power of actuator shaft, controls actuator shaft and turns with the rotative power downgraded
Dynamic.
The control method of the robotic arm of the present invention, at teaching robotic arm working path, sets and all causes
The general power boundary of moving axis, the then working path of tentative teaching, and record the rotative power of each actuator shaft,
Timing calculates the rotative power formation accumulation general power adding up each actuator shaft, checks that accumulation general power exceedes always
During power limit, calculate the ratio of general power boundary and accumulation general power, total with accumulation with general power boundary
The ratio of power or not less than this ratio, equal proportion downgrades the rotative power of each actuator shaft, makes accumulation total work
Rate is not more than general power boundary, to complete the working path of tentative teaching.
Accompanying drawing explanation
Fig. 1 is the control schematic diagram of robotic arm of the present invention；
Fig. 2 is the schematic diagram of the rotative power of robotic arm of the present invention；
Fig. 3 is the flow chart of the control method of robotic arm of the present invention；
Fig. 4 is the mobile schematic diagram of prior art robotic arm.
Symbol description
20 robotic arms
21 pedestals
22 first arms
23 second arms
The 24 non-portions of end
30 control device
31 general power setup units
32 power monitoring unit
33 power comparison modules
34 power adjustment units
35 driver elements
K, L, M actuator shaft
Detailed description of the invention
The relevant present invention is for reaching above-mentioned purpose, and the technological means used and effect thereof, existing act is the most real
Execute example, and it is as follows to coordinate accompanying drawing to be illustrated.
Please refer to the control schematic diagram that Fig. 1 and Fig. 2, Fig. 1 are robotic arm of the present invention, Fig. 2 is
The schematic diagram of the rotative power of robotic arm of the present invention.The robotic arm 20 of the present invention is mainly filled by control
Put 30 controls to move.Wherein robotic arm 20 arranges the first actuator shaft K on pedestal 21 and rotates first
Arm 22, arranges the second actuator shaft L on the first arm 22 and rotates the second arm 23, set on the second arm 22
The 3rd non-portion of actuator shaft M turning end 24.Though the present embodiment illustrates with triple axle robotic arm, but
The present invention is suitable for inclusion in the multi-axis machine arm of at least one actuator shaft.
The control device 30 of the present invention rotates in order to control each actuator shaft, mainly comprises general power and sets single
Unit 31, power monitoring unit 32, power comparison module 33, power adjustment unit 34 and driver element
35 etc..Wherein general power setup unit 31 provides user to set general power boundary G of whole actuator shafts,
To limit the rotative power of each actuator shaft.Power monitoring unit 32 instant recording and monitor each actuator shaft
Rotative power.Power comparison module 33 records the rotative power of each actuator shaft according to power monitoring unit 32,
Timing add up each actuator shaft rotative power formed accumulation general power T, and with general power setup unit 31
The general power boundary G comparison set, checks whether accumulation general power T exceedes general power boundary G, with
Judge whether robotic arm 20 surmounts speed envelope and move.And power adjustment unit 34 is for accumulation total work
When rate T exceedes general power boundary G, calculate ratio P of general power boundary G and accumulation general power T,
And downgrade the rotative power of each actuator shaft to scale, and make accumulation general power T downgraded ' it is not more than general power circle
Limit G.Driver element 35 receives the signal that power adjustment unit 34 downgrades the rotative power of each actuator shaft,
Control each actuator shaft to rotate with the rotative power downgraded.
Owing to the first arm 22 of robotic arm 20 of the present invention is rotated by the first actuator shaft K, the first arm 22
Translational speed, need to be determined by the velocity of rotation of the first actuator shaft K, and the rotation of the first actuator shaft K
Speed is to be controlled the rotative power decision of the first actuator shaft K output by driver element 35.First arm 22
The speed of translational speed, change with the rotative power height of the first actuator shaft K output, therefore monitoring the
The rotative power of one actuator shaft K, is equivalent to monitor the translational speed of the first arm 22.And the first actuator shaft
The rotative power of K is exported control immediately by driver element 35, and therefore the present invention can pass through driver element 35
Control signal, obtain the rotative power of the first actuator shaft K output easily, be not necessary to through complicated distance
Calculate, so that it may monitor the mobile status of the first arm 22.
In like manner, second arm 23 of the present invention is rotated by the second actuator shaft L, as long as the present invention obtains second
The rotative power of actuator shaft L output, though the mobile status of the second arm 23 can be monitored.But the second actuator shaft
L is located on the first arm 22, the mobile status of the second arm 23, the mobile shape plus the first arm 22 of still needing
State, namely need to by second actuator shaft L output rotative power add up first actuator shaft K output turn
Kinetic power, could monitor the actual mobile status of the second arm 23.In like manner, the non-portion of the end of the present invention 24 by
Being located at the second arm 23 the 3rd actuator shaft M to rotate, the present invention obtains the rotation merit of the 3rd actuator shaft M output
Rate, the rotative power of cumulative second actuator shaft L output of still needing and the rotation merit of the first actuator shaft K output
Rate, the actual mobile status in the ability non-portion of monitoring client 24.Therefore, multi-axis machine arm need to add up each axle
Output rotative power, formed accumulation general power, the mobile status of robotic arm could be monitored.
The present invention controls robotic arm 20 and moves when picking and placeing object, utilizes plan optimization path and speed,
Teaching robotic arm working path.First the total work of whole actuator shaft is set at general power setup unit 31
Rate boundary G.Then the working path of tentative teaching, shown in solid in Fig. 2, controls for controlling device 30
Power monitoring unit 32 processed record and monitor tentative in the first actuator shaft K, the second actuator shaft L and the 3rd
The rotative power of actuator shaft M.Utilize power comparison module 33 timing, such as, calculate at time point t each
Accumulation general power T of actuator shaft, and compare with general power boundary G set, check accumulation general power T
Whether exceed general power boundary G, when accumulation general power T is not less than general power boundary G, continue examination
The working path of row teaching.Once check that accumulation general power T exceedes general power boundary G, controls device
30 control power adjustment units 34 calculates ratio P of general power boundary G and accumulation general power T, and with
This ratio P downgrades the rotative power of each actuator shaft, the i.e. first actuator shaft K ', the second actuator shaft L ' and
The rotative power of three actuator shaft M ', makes accumulation general power T downgraded ' it is not more than general power boundary G.Again
Controlled, by controlling device 30, the signal that driver element 35 reception downgrades the rotative power of each actuator shaft, control
Each actuator shaft rotates with the rotative power downgraded, to continue the working path of tentative teaching.
Owing to the present invention is when accumulation general power T exceedes general power boundary G, P downgrades each cause to scale
The rotative power of moving axis, makes accumulation general power T downgraded ' it is not more than general power boundary G, respectively activate
The reduction of the velocity of rotation equal proportion of axle, is slowing of movement, but can maintain original optimization road
Footpath, completes the working path of tentative teaching, and can control robotic arm 20 under upkeep operation safety
Produce according to the working path of teaching.Though the present embodiment is with general power boundary G and accumulation general power T
Ratio P downgrade the rotative power of each actuator shaft and illustrate, but all can be deduced by preceding description, with not
Downgrade the rotative power of each actuator shaft less than ratio P, simply the speed of movement becomes more slowly, but also up to
To making accumulation general power T be not more than general power boundary G, reach the present invention and maintain original path optimizing
Purpose.
As it is shown on figure 3, be the flow chart of the control method of robotic arm of the present invention.The present invention controls machine
The step-by-step procedures that arm moves is as follows: first in step S1, plan optimization path and speed, teaching
Robotic arm working path；In step S2, set the general power boundary of whole actuator shaft；In step S3,
Then the working path of tentative teaching, and record the rotative power of each actuator shaft；In step S4, regularly
Calculate the accumulation general power of each actuator shaft；In step S5, check whether accumulation general power exceedes setting
General power boundary, when accumulation general power is not less than general power boundary, enters step S8, tired when checking
Long-pending general power exceedes general power boundary, then enter step S6, calculate general power boundary and accumulation general power
Ratio；In step S7, with not less than this ratio, equal proportion downgrades the rotative power of each actuator shaft,
Accumulation general power is made to be not more than general power boundary；In step S8, check whether tentative working path terminates？
If tentative working path does not terminates, then return to step S3 and continue the working path of tentative teaching, if
Tentative working path terminates, then enter step S9 and terminate the working path of tentative teaching.
By above explanation, the control device and method of robotic arm of the present invention, so that it may make in tentative teaching
During industry path, by setting whole actuator shaft general power boundaries, control the rotative power of actuator shaft, limit
The translational speed of each arm, reaches to simplify the purpose of operation.The control device of robotic arm the most of the present invention and
Method, when comparison accumulation general power exceedes general power boundary, utilizes not less than general power boundary and accumulation
The ratio of general power, equal proportion downgrades the power of each actuator shaft, maintains the mobile route and speed optimized,
Reach the present invention and accelerate to instruct the purpose of operation.
As described above, be only in order to convenient explanation the preferred embodiments of the present invention, and the scope of the present invention is not
Being limited to such preferred embodiment, all any changes done according to the present invention, in the spirit without departing from the present invention
Under, all belong to the scope of the claims in the present invention.
Claims (10)
1. a control device for robotic arm, in order to control to comprise the robotic arm of at least one actuator shaft,
Comprise:
General power setup unit, it is provided that set the general power boundary of the rotative power of actuator shaft；
Power monitoring unit, records and monitors the rotative power of actuator shaft；
Power comparison module, according to the rotative power of each actuator shaft of power monitoring unit record, timing adds up
The rotative power of actuator shaft forms accumulation general power, and with the general power boundary comparison set, tired to check
Whether long-pending general power exceedes general power boundary；
Power adjustment unit, when checking that accumulation general power exceedes general power boundary for power comparison module,
Downgrade the rotative power of actuator shaft, make the accumulation general power downgraded be not more than general power boundary；
Driver element, receives the signal that power adjustment unit downgrades the rotative power of actuator shaft, controls to activate
Axle rotates with the rotative power downgraded.
2. the control device of robotic arm as claimed in claim 1, wherein this power adjustment unit with etc.
Ratio downgrades the rotative power of actuator shaft.
3. the control device of robotic arm as claimed in claim 1, wherein this power adjustment unit calculates
General power boundary and the ratio of accumulation general power, to downgrade the rotative power of actuator shaft not less than this ratio.
4. the control device of robotic arm as claimed in claim 3, wherein this power adjustment unit by terms of
Calculate the ratio of general power boundary and accumulation general power, downgrade the rotative power of actuator shaft.
5. a control method for robotic arm, its step comprises:
Teaching robotic arm working path；
Set general power boundary；
The working path of tentative teaching, and record the rotative power of each actuator shaft；
Timing calculates the accumulation general power of each actuator shaft；
Check when accumulation general power exceedes general power boundary, downgrade the rotative power of each actuator shaft, make accumulation
General power is not more than general power boundary, continues the working path of tentative teaching.
6. the control method of robotic arm as claimed in claim 5, wherein this accumulation general power is for adding up
The rotative power of each actuator shaft.
7. the control method of robotic arm as claimed in claim 5, wherein this inspection accumulation general power is not
When exceeding the general power boundary of setting, continue the working path of tentative teaching.
8. the control method of robotic arm as claimed in claim 5, is wherein checking that accumulation general power surpasses
When crossing general power boundary, equal proportion downgrades the rotative power of each actuator shaft.
9. the control method of robotic arm as claimed in claim 8, wherein calculates general power boundary with tired
The ratio of long-pending general power, not less than this ratio, to downgrade the rotative power of each actuator shaft.
10. the control method of robotic arm as claimed in claim 9, wherein with general power boundary and accumulation
The ratio of general power, downgrades the rotative power of each actuator shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510078209.4A CN105983966B (en) | 2015-02-13 | 2015-02-13 | Control device and method for robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510078209.4A CN105983966B (en) | 2015-02-13 | 2015-02-13 | Control device and method for robot arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105983966A true CN105983966A (en) | 2016-10-05 |
| CN105983966B CN105983966B (en) | 2020-06-12 |
Family
ID=57041293
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510078209.4A Active CN105983966B (en) | 2015-02-13 | 2015-02-13 | Control device and method for robot arm |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291055A (en) * | 2018-11-29 | 2019-02-01 | 库卡机器人(广东)有限公司 | Motion planning and robot control method, apparatus, computer equipment and storage medium |
Citations (4)
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|---|---|---|---|---|
| JPH01281884A (en) * | 1988-05-02 | 1989-11-13 | Matsushita Electric Ind Co Ltd | Power control device |
| CN101062561A (en) * | 2006-04-28 | 2007-10-31 | 施托布利法韦日公司 | Method and device for adjusting the operating parameters of a robot, program and storage medium for this method |
| CN102939188A (en) * | 2010-06-08 | 2013-02-20 | Keba股份公司 | Method for programming or setting movements or sequences of industrial robot |
| CN103228408A (en) * | 2010-11-24 | 2013-07-31 | 库卡罗伯特有限公司 | Method and device for controlling a peripheral component of a robot system |
-
2015
- 2015-02-13 CN CN201510078209.4A patent/CN105983966B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01281884A (en) * | 1988-05-02 | 1989-11-13 | Matsushita Electric Ind Co Ltd | Power control device |
| CN101062561A (en) * | 2006-04-28 | 2007-10-31 | 施托布利法韦日公司 | Method and device for adjusting the operating parameters of a robot, program and storage medium for this method |
| CN102939188A (en) * | 2010-06-08 | 2013-02-20 | Keba股份公司 | Method for programming or setting movements or sequences of industrial robot |
| CN103228408A (en) * | 2010-11-24 | 2013-07-31 | 库卡罗伯特有限公司 | Method and device for controlling a peripheral component of a robot system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291055A (en) * | 2018-11-29 | 2019-02-01 | 库卡机器人(广东)有限公司 | Motion planning and robot control method, apparatus, computer equipment and storage medium |
| CN109291055B (en) * | 2018-11-29 | 2021-06-01 | 库卡机器人(广东)有限公司 | Robot motion control method, device, computer equipment and storage medium |
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| Publication number | Publication date |
|---|---|
| CN105983966B (en) | 2020-06-12 |
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Effective date of registration: 20200410 Address after: Taoyuan City, Taiwan, China Applicant after: Daming robot Co., Ltd Address before: Taoyuan City, Taiwan, China Applicant before: QUANTA STORAGE Inc. |
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