CN106502095B - A kind of cooperative control method of more industrial robots - Google Patents
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Abstract
The present invention relates to a kind of cooperative control methods of more industrial robots, comprising the following steps: the industrial robot of different brands and its original controller are integrated into general controls station by design communication interface modules；Design the configuration element of industrial robot；Develop the Logical Configuration program of more industrial robot Collaborative Control algorithms；Develop man-machine interface configuration program；Industrial robot control configuration program is sent to general controls station, the calculating of program is executed by general controls station, corresponding movement is executed by each joint of original controller driving industrial robot of industrial robot；Industrial robot operating status is acquired, the Collaborative Control effect of more industrial robots is tested；Operating system tests the control effect of industrial robot online programming.The present invention solves that existing more industrial robot control system poor expandabilities, information exchange ability are poor, Collaborative Control is difficult, flexible in programming is insufficient, can not online programming, the technical problems such as control effect is undesirable.
Description
Technical field
The present invention relates to a kind of cooperative control methods of more industrial robots.
Background technique
Traditional manufacture is being faced with industrial upgrading and intellectualized reconstruction, and industrial robot is exactly in intellectualized reconstruction
An important link.It is current to make in face of the series of problems such as the production process to become increasingly complex and the shortening of factory's line update cycle
It makes industry and urgently needs a kind of standard, quick, simple robotic programming and control method.Meanwhile robot be also required to by with
The individual of preceding autonomous working gradually becomes mutually coordinated cooperation, can be realized the total system of control based on network.
The Collaborative Control of current existing more industrial robots there is a problem of several main: first is that generalling use phase homotype
Number industrial robot, study seldom for the Collaborative Control of isomery industrial robot；Two are different robot building factory
The robot of quotient's production generallys use different machine language programming language and software tool, and system is more closed, different machines
Intercommunity between people is poor, and is usually all again will by off-line programing in advance for the Collaborative Control of isomery industrial robot
Control instruction is transferred to the controller of robot, basically can not support the online programming of multirobot Collaborative Control algorithm；Three
Be current multirobot integrated approach it is not simple enough, largely using to the original controller of robot in existing research
It is transformed, and reforming mode is complicated, improved set expandability is poor.Therefore, heterogeneous computers in industrial production system at present
Collaborative Control design, exploitation and the cost of application between device people or between robot and other control equipment is very high, and technology is difficult
Degree is also very big.
At present in terms of multirobot Collaborative Control, [Chen Shengguo, Liu Zhi, Liang Shaofang wait spray robot certainly to document
Design [J] industrial control computer of main programming comprehensive platform, 2010,23 (6): 45-46.] it proposes using replacement control
The mode of device carries out controller transformation to PUMA robot: being replaced using such controller with Open architecture of PMAC former
There is controller, realize networking operation, to the programmed method of robot using library function, this method is related to pair
The transformation of controller, transformation process are complex.In the case where not structural control device, [Jiang Wenhui is based on document
Multi-robot coordination control method research [D] the South China Science & Engineering University of Internet, 2012.] it proposes to be based on " computer+machine
The control mode of device people ", using Web_control Robot, but the communication of computer and robot is often just for simple
Switching value, such as start/stop the signals such as robot, do not have enough flexibilities, computer and not responsible robot fortune
The dynamic solution learned, the operations such as trajectory planning, and robot can control that degree is also very limited, and the coordinated control of robot is also required to
Control system has enough information exchange abilities.Document [research [D] China of Ou Yangfan Dual-robot coordination movement technique
Southern Polytechnics, 2013.] and document [Harbin research [D] the industry of the robot coordinated technology of Yu Guangdong duplex industry is big
Learn, 2014.] Dual-robot coordination system using an industrial personal computer connects two industrial robots, industry control in two articles
Machine is responsible for carrying out trajectory planning, and the original controller of robot is then responsible for executing the control instruction that industrial personal computer is sent, but it is main
Off-line programing calculating is carried out using MATLAB and generates motion path point and motion control file, for the operators
Programming mode is not intuitive.Patent CN201510419180.1 is the prior art closest to the method for the present invention at present, the patent
Propose a kind of method that dual robot carries out double slit welding.Main control station of the PLC as dual robot, by industrial bus with
The controller of robot is communicated.But in the patent, the master controller of robot or the control cabinet itself being had,
PLC is only to play the role of coordinating whole system, such as starting robot, receives robot feedback information etc., and be not involved in
The solution of robot kinematics, the operations such as trajectory planning.The system does not have without programing system yet and realizes dual robot association
With the ability of algorithm.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of cooperative control methods of more industrial robots, for solving
Existing more industrial robot control system poor expandabilities, information exchange ability are poor, Collaborative Control is difficult, flexible in programming is insufficient,
Can not online programming, the technical problems such as control effect is undesirable.
To achieve the above object, the present invention adopts the following technical scheme: a kind of cooperative control method of more industrial robots,
Characterized by comprising the following steps:
Step S1: designing and develops communication interface modules, by the industrial robot of different brands and its original controller collection
At into general controls station；
Step S2: the configuration element of design and exploitation industrial robot；
Step S3: the Logical Configuration program of more industrial robot Collaborative Control algorithms is developed；
Step S4: exploitation man-machine interface configuration program；
Step S5: industrial robot control configuration program is transmitted offline or is sent to online general controls by Ethernet
It stands, the calculating of program is executed by general controls station, held by original controller driving each joint of industrial robot of industrial robot
The corresponding movement of row；
Step S6: acquisition industrial robot operating status tests the Collaborative Control effect of more industrial robots；
Step S7: operating system tests the control effect of industrial robot online programming.
Further, in the step S1, the communication interface modules can be in ethernet environment by calling industry
The API application programming interface of the original controller of robot, realizes each industrial robot and its controller and general controls
The connection communication stood；The general controls station can be received from the first by graphical configuration of industrial robot programming configuration software
The built-up control program of part, and the logical order of configuration program is converted into movement instruction, then by the movement instruction
Original controller of industrial robot is sent to by Ethernet, while the original controller of industrial robot also can be by each work
The status data information of industry robot is passed back to general controls station.
Further, the step S2 method particularly includes: 1, determine the input/output interface of configuration element；2, by configuration
Element algorithm packaging is modularization function；3, configuration element algorithmic function is compiled in general controls station, in addition, according to
Different Collaborative Control mission requirements between multiple robots, customize different types of configuration element, and different configuration elements is adopted
It is encoded with identical data structure, there is compatibility well.
Further, in the step S3, the logic of more industrial robot Collaborative Control algorithms is developed using configuration element
The various movements of configuration program, industrial robot pass through simple arrangement, line and the simple parameter of setting to configuration element
It is controlled, used configuration element mainly includes industrial robot configuration element, signal input and output element, mathematical computations
Element, logic control element, function generator element, method particularly includes:
A, according to the practical operation requirement of industrial robot control system Collaborative Control, the movement of industrial robot has been planned
Track；
B, it selects a series of configuration elements to carry out easy permutation and combination line and parameter setting, completes patrolling for control algolithm
Collect building for configuration program.
Further, the motion profile is circular motion, mathematic(al) representation are as follows:
Wherein,For the abscissa of the motion profile,For the ordinate of the motion profile,For motion profile
Radius,For industrial robot be currently located a little with the line of coordinate origin withThe angle of axis positive direction.
Further, in the step S4, using the animation elements of configuration software, the picture configuration journey of man-machine interface is write
Sequence, and be attached by Ethernet and general controls station, real-time inputoutput data, the configuration are read from general controls station
Program can replace teaching machine well, realize the function of read-write and the monitoring to robot data.
Further, in the step S5, the function at the general controls station is to the control journey being made of configuration element
Sequence is calculated, and when the program at general controls station executes some configuration element in sequence, system can be by the configuration element institute
For the data transmission of carrying into each functional treatment unit module, the data include configuration element computation attribute parameter, configuration member
The operation result of the information of part algorithm and last calculating cycle；The transmission of 7 seed types is supported in the online transmission, including online
Addition, deletion and the replacement of graphical configuration element when operation, the adjustment of relevant permutation relationship and computation sequence, control algolithm and
The exchange of the online modification and Logical Configuration of control parameter, operational effect are can not to stop in industrial robot control system
In the case where only running, the configuration data that Logical Configuration modification front and back changes in general controls station is updated；It is described
It general controls station can also be by the Program transformation handled at range of motion instruction, and according to corresponding communications protocol format
It is transmitted in the original controller of robot, by each motion process module in the original controller of robot according to corresponding instruction
Driving industrial robot joint completes a series of actions.
Further, in the step S6, the sensor at industrial robot end can by the data acquired in real time by with
Too net is transferred in the database at general controls station, and the real time status information of robot is visually displayed in the man-machine interface of system
On, to monitor the cooperative motion process of entire robot control system, guarantee all control stations of system all in steady fortune
In row, the Collaborative Control measure of merit includes: that can each robot carry out track movement according to set route；Collaboration
The control performance of movement specifically includes the real-time of control, the precision of track.
Further, in the step S7, more industrial robot control systems is run, are controlled by online modification robot
Program, the modification of parameter, logic including element, the increase and decrease of configuration element, the control effect of the online programming of test machine people.
Compared with the prior art, the invention has the following beneficial effects:
1, use the industrial production user of the method for the present invention that can automatically select different manufacturers raw for the factory of oneself
The different types of industrial robot produced, it is only necessary to connect the number for neatly increasing robot by cable according to the demand of process
Amount, method is simple, flexible in application, scalability is good；
2, using the method for the present invention, user can be carried out in unified control station with a kind of unified standard programming language
The programming of the motion planning of multirobot and related intelligent algorithm, without paying close attention to and relying on the original controller of each robot
Programmed method；
3, the method for the present invention can be realized robot online programming, and the fortune of robot can be modified under non-stop-machine state
Dynamic algorithm and parameter substantially increase adaptability and machine task efficiency that robot changes process.
Detailed description of the invention
Fig. 1 is control method flow chart of the invention.
Fig. 2 is the control logic online modification of one embodiment of the invention and the schematic diagram of transmission.
Fig. 3 is the Human Machine Interface schematic diagram of one embodiment of the invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and embodiments.
Please refer to Fig. 1, the present invention provides a kind of cooperative control method of more industrial robots, which is characterized in that including with
Lower step:
Step S1: designing and develops communication interface modules, by the industrial robot of different brands and its original controller collection
At into general controls station；
The communication interface modules can be in ethernet environment by calling the API of the original controller of industrial robot to answer
With Program Interfaces, the connection communication of each industrial robot and its controller and general controls station is realized；Specifically, described
Communication interface modules uses typical C/S framework, and wherein general controls station is as client, industrial robot and its original control
Device is as server end.General controls station is sent by setting IP address and port numbers linking objective server, and to robot
Control request, the request at machine talent conference response general controls station after successful connection.
The general controls station can be received from industrial robot programming configuration software by graphical configuration element structure
Program is controlled made of building, and the logical order of configuration program is converted into movement instruction, then passes through the movement instruction
Ethernet is sent to original controller of industrial robot, while the original controller of industrial robot also can be by each industrial machine
The status data information of device people is passed back to general controls station；Specifically, the content of movement instruction includes that the XYZ of object pose is sat
Mark, each axis movement velocity, motor pulses etc.；Communication between the original controller of robot and general controls station is with standard
Based on the library TCP/IP socket, it then follows socket Principle of Communication；Status data information include each joint of robot position,
The real time data of angle, I/O value and each sensor.
Step S2: the configuration element of design and exploitation industrial robot.Method particularly includes: 1, determine the input of configuration element
Output interface；It 2, is modularization function by configuration element algorithm packaging；3, to configuration element algorithmic function in general controls station
It is compiled, in addition, customizing different types of configuration member according to Collaborative Control mission requirements different between multiple robots
Part, different configuration elements are encoded using identical data structure, have compatibility well.
For the matrix inversion element used in certain multirobot Collaborative Control algorithm, development approach are as follows: 1, design
The control parameter of matrix inversion element input/output interface, the dimension of the initial memory address of the original matrix including input, matrix
With the start memory location of the inverse matrix of output.2, it adopts and shows a C language matrix inversion algorithm, and be encapsulated as modularization letter
Number；3, matrix inversion algorithmic function is compiled in general controls station, is called for system.
Step S3: the Logical Configuration program of more industrial robot Collaborative Control algorithms is developed；It is developed using configuration element more
The various movements of the Logical Configuration program of industrial robot Collaborative Control algorithm, industrial robot pass through to the simple of configuration element
Arrangement, line and the simple parameter of setting are controlled, and used configuration element mainly includes industrial robot configuration member
Part, signal input and output element, mathematical computations element, logic control element, function generator element, method particularly includes:
A, according to the practical operation requirement of industrial robot control system Collaborative Control, the movement of industrial robot has been planned
Track；
B, it selects a series of configuration elements to carry out easy permutation and combination line and parameter setting, completes patrolling for control algolithm
Collect building for configuration program.
In this present embodiment, the motion profile is circular motion, mathematic(al) representation are as follows:
Wherein, X is the abscissa of the motion profile, and Y is the ordinate of the motion profile, and R is the half of motion profile
Diameter, θ are that industrial robot is currently located a little angle with the line of coordinate origin and X-axis positive direction.
The elements such as constant generator element SG, multiplication element MUL, Sin function, intermediate analog quantity can be selected, using letter
The mode of single-row constructs Collaborative Control logic.Specifically, element SG is a constant generator, sets half for the parameter of SG
Diameter R；Element MUL is multiplication, and the value that SG element and the multiplication of Sin functional unit obtain is assigned to analog quantity element among LA
The value of LA is directly assigned to the X-axis (the X variable i.e. in formula) of robot end's coordinate control.Using cartesian space coordinate
These instructions relevant to motion control are passed to general controls by Ethernet by the way that suitable movement velocity is arranged by mode
The calculating that robot end executes circular motion can be completed in station.
Step S4: exploitation man-machine interface configuration program；Using the animation elements of configuration software, the picture of man-machine interface is write
Configuration program, and be attached by Ethernet and general controls station, real-time inputoutput data is read from general controls station,
The configuration program can replace teaching machine well, realize the function of read-write and the monitoring to robot data；Referring to figure 3.,
The content that the man-machine interface can monitor specifically include that each joint in the position of robot tool end, robot angular displacement,
Angular speed, the alarm in each joint etc..
Step S5: industrial robot control configuration program is transmitted offline or is sent to online general controls by Ethernet
It stands, the calculating of program is executed by general controls station, held by original controller driving each joint of industrial robot of industrial robot
The corresponding movement of row；
The function at the general controls station is calculated the control program being made of configuration element, when general controls station
Program when executing some configuration element in sequence, system can be by data transmission entrained by the configuration element at each function
It manages in unit module, the data include configuration element computation attribute parameter, the information and last calculating of configuration element algorithm
The operation result in period；
The transmission of 7 seed types is supported in the online transmission, the addition, deletion of graphical configuration element when including on-line operation
And replacement, the adjustment of relevant permutation relationship and computation sequence, the online modification and Logical Configuration of control algolithm and control parameter
Exchange, operational effect is can be in the case where industrial robot control system be out of service, in general controls station
The configuration data that Logical Configuration modification front and back changes is updated；
Referring to figure 2., in this present embodiment, certain Logical Configuration is made of element A, element B, element C, calculates timing point
It Wei 1,2,3.Now because system controls or debugs needs, modification appropriate is carried out to this section of logic, modified logic is by member
Part A, element B, element C and element D are constituted, and are calculated timing and are also adjusted to 1,2,4,3.The step can be by modified logic
The changed part of configuration is transmitted online, and general controls station also only needs the group of calculating timing and element D to element C
State data are updated.
It the general controls station can also be by the Program transformation handled at range of motion instruction, and according to corresponding
Communications protocol format is transmitted in the original controller of robot, by each motion process module root in the original controller of robot
A series of actions is completed according to corresponding order-driven industrial robot joint.
Step S6: acquisition industrial robot operating status tests the Collaborative Control effect of more industrial robots；Work
The data acquired in real time can be transferred in the database at general controls station by the sensor of industry robotic end by Ethernet, machine
The real time status information of device people is visually displayed in the man-machine interface of system, to monitor the association of entire robot control system
With all control stations of system in motion process, are guaranteed all in even running, the Collaborative Control measure of merit includes: each
Can a robot carry out track movement according to set route；The control performance of cooperative motion specifically includes the reality of control
Shi Xing, precision of track etc..
Step S7: operating system tests the control effect of industrial robot online programming；Run more industrial robot controls
System, by online modification robot control program, modification, increase and decrease of configuration element of parameter, logic including element etc. are surveyed
The control effect of the online programming of try engine people.
For example, under robot current operating conditions, when carrying out the movement of picture circumference such as robot end, by end movement
The setting value of radius of a circle double.Modified control logic is sent to general controls by the function of transmitting online
It stands, can observer robot be transitted smoothly to new control instruction, i.e. progress radius increases one times of extreme circumferential movement.
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 (9)
1. a kind of cooperative control method of more industrial robots, which comprises the following steps:
Step S1: designing and develops communication interface modules, and the industrial robot of different brands and its original controller are integrated into
In general controls station；
Step S2: the configuration element of design and exploitation industrial robot；
Step S3: the Logical Configuration program of more industrial robot Collaborative Control algorithms is developed；
Step S4: exploitation man-machine interface configuration program；
Step S5: industrial robot control configuration program being transmitted offline by Ethernet or is sent to general controls station online,
The calculating that program is executed by general controls station executes phase by each joint of original controller driving industrial robot of industrial robot
The movement answered；
Step S6: acquisition industrial robot operating status tests the Collaborative Control effect of more industrial robots；
Step S7: operating system tests the control effect of industrial robot online programming.
2. the cooperative control method of more industrial robots according to claim 1, it is characterised in that: in the step S1,
The communication interface modules can be in ethernet environment by calling the API application program of the original controller of industrial robot to compile
Journey interface realizes the connection communication of each industrial robot and its controller and general controls station；The general controls station can
The control program built-up by graphical configuration element from industrial robot programming configuration software is received, and by configuration journey
The logical order of sequence is converted to movement instruction, and the movement instruction is then sent to the original of industrial robot by Ethernet
Controller, at the same the original controller of industrial robot the status data information of each industrial robot can be also passed back to it is general
Control station.
3. the cooperative control method of more industrial robots according to claim 1, it is characterised in that: the tool of the step S2
Body method are as follows: 1, determine the input/output interface of configuration element；It 2, is modularization function by configuration element algorithm packaging；3, logical
Configuration element algorithmic function is compiled in control station, according to Collaborative Control task need different between multiple robots
It asks, customizes different types of configuration element, different configuration elements is encoded using identical data structure.
4. the cooperative control method of more industrial robots according to claim 1, it is characterised in that: in the step S3,
The Logical Configuration program of more industrial robot Collaborative Control algorithms is developed using configuration element, the various movements of industrial robot are logical
It crosses the simple arrangement to configuration element, line and the simple parameter of setting to control, used configuration element includes work
Industry robot configuration element, signal input and output element, mathematical computations element, logic control element, function generator element, tool
Body method are as follows:
A, according to the practical operation requirement of industrial robot control system Collaborative Control, the movement rail of industrial robot has been planned
Mark；
B, it selects a series of configuration elements to carry out easy permutation and combination line and parameter setting, completes the logical groups of control algolithm
State program is built.
5. the cooperative control method of more industrial robots according to claim 4, it is characterised in that: the motion profile is
Circular motion, mathematic(al) representation are as follows:
Wherein,For the abscissa of the motion profile,For the ordinate of the motion profile,It is the half of motion profile
Diameter,For industrial robot be currently located a little with the line of coordinate origin withThe angle of axis positive direction.
6. the cooperative control method of more industrial robots according to claim 1, it is characterised in that: in the step S4,
Using the animation elements of configuration software, write the picture configuration program of man-machine interface, and by Ethernet and general controls station into
Row connection reads real-time inputoutput data from general controls station.
7. the cooperative control method of more industrial robots according to claim 1, it is characterised in that: in the step S5,
The function at the general controls station is calculated the control program being made of configuration element, when the program at general controls station is pressed
When according to sequentially executing some configuration element, system can be by data transmission entrained by the configuration element to each functional process unit mould
In block, the data include configuration element computation attribute parameter, the information of configuration element algorithm and the fortune of last calculating cycle
Calculate result；The transmission of 7 seed types is supported in the online transmission, the addition, deletion of graphical configuration element when including on-line operation
And replacement, the adjustment of relevant permutation relationship and computation sequence, the online modification and Logical Configuration of control algolithm and control parameter
Exchange, in the case where industrial robot control system is not out of service, in general controls station Logical Configuration modification before
The configuration data to change afterwards is updated；It the general controls station can also be by the Program transformation handled at a series of
Movement instruction, and be transmitted in the original controller of robot according to corresponding communications protocol format, by the original controller of robot
In each motion process module a series of actions is completed according to corresponding order-driven industrial robot joint.
8. the cooperative control method of more industrial robots according to claim 1, it is characterised in that: in the step S6,
The data acquired in real time can be transferred in the database at general controls station by the sensor at industrial robot end by Ethernet,
The real time status information of robot is visually displayed in the man-machine interface of system, to monitor entire robot control system
Cooperative motion process, the Collaborative Control measure of merit include: that can each robot carry out track according to set route
Movement；The control performance of cooperative motion specifically includes the real-time of control, the precision of track.
9. the cooperative control method of more industrial robots according to claim 1, it is characterised in that: in the step S7,
More industrial robot control systems are run, by online modification robot control program, parameter, logic including element are repaired
Change, the increase and decrease of configuration element, the control effect of the online programming of test machine people.
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