CN106891326B - A kind of robot teaching method - Google Patents
A kind of robot teaching method Download PDFInfo
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- CN106891326B CN106891326B CN201710172975.6A CN201710172975A CN106891326B CN 106891326 B CN106891326 B CN 106891326B CN 201710172975 A CN201710172975 A CN 201710172975A CN 106891326 B CN106891326 B CN 106891326B
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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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- 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
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Abstract
The invention discloses a kind of robot teaching methods, are suitable for robot (correlation) technical field.This method is a kind of teaching method based on gesture identification, gyroscope/accelerometer module is fixed on robotic user the back of the hand first, as the gesture of user changes, three-dimensional linear acceleration and three-dimensional angular velocity are obtained using gyroscope/accelerometer module, angle signal, signal is handled by single-chip microcontroller, micro or Large Amplitude Motion signal and joint space or the motor message of operating space are selected by control switch, signal is passed into driving motor and mechanical arm is driven to complete corresponding actions, the six-dimensional space movement of industrial robot end effector can also accordingly be controlled.The present invention may be implemented mechanical arm according to the teaching movement of operation user and make corresponding actions, human-computer interaction function can be better achieved, keep teaching operation safer, intelligent and user friendly by above-mentioned teaching method.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of robot teaching methods.
Background technique
In modern industry, with intelligent and the degree of automation continuous improvement, industrial robot is more and more widely
Applied to all trades and professions, wherein teaching system is the important component part of robot control system.Traditional robot operation is usual
It is to be carried out by mouse, keyboard or teaching box, that there are safeties is poor for teaching process, and degree of intelligence is low, complicated for operation, man-machine friendship
A series of problems, such as mutually unfriendly.
Robot teaching has relatively long research and development history, but gesture teaching in current robotic technology field
Starting is late at home for research, and technology is still immature, and the present invention existing patent with before has obvious difference.Application No. is
User is to obtain gesture based on Leap Motion sensor for the acquisition of hand signal in 201610459874.2 patent
The attitude data of position data and gesture, gesture are responsible for coarse adjustment, and voice is responsible for fine tuning, this teaching method need to be by gesture and voice
It is combined together, it is indispensable.The patent of application number 201610159248.1 is according to user gesture motion feature point and movement number
According to matching degree gesture being selected to change posture for posture has been retained in library, and corresponding movement is made, the method needs pre-
If sample form and database.Teaching process described in the patent of application number 201510138234.7 is that teaching machine is set by detection
The sensor on manipulator finger to be set to move to control manipulator along different directions, teaching process is cumbersome, operation is more complex,
Intelligence degree is lower.The hand signal of acquisition described in the patent of application number 201610363903.5 needs and preset signals
Multiple preset signals in library match and could generate operation sequence.The method it is prior preset some hand signals be stored in it is default
In signal library, preparation is more complex before teaching.Teaching method described in the patent of application number 201310183427.5 need using
Person operates teaching display-tool with sticking plastic to specify teaching position, this method is also needed using certain teaching display-tool with sticking plastic, and it is more inconvenient to operate, and this side
Method is only limitted to position teaching rather than action teaching.
In conclusion the technical solution for needing one kind new is to solve the above problems.
Summary of the invention
The purpose of the present invention is to provide a kind of simple and reliable, teachings of flexible to operation and more convenient human-computer interaction
System, it is intended to solve traditional teaching poor, complicated for operation problem of existing safety in the process, help to improve human-computer interaction
Experience.
In order to achieve the above objectives, following technical solution can be used in the present invention:
A kind of robot teaching method, the system which uses include sensing module, single-chip microcontroller, control switch,
Mechanical arm, sensing module include gyroscope and three axis accelerometer；The following steps are included:
(1), gyroscope and three axis accelerometer module are fixed in the indicator body for providing operational order, the indicant
Body is movable；
(2), angular speed, the angular movement delta data of gyroscope output indicator body, three axis accelerometer output instruction
The three-dimensional acceleration data of object；
(3), the angular speed acquired in step (1), angular movement variation, three-dimensional acceleration data are output to single-chip microcontroller,
Gesture shake and sensor clutter etc. during removal teaching are handled by Kalman filtering algorithm interferes data；
(4), single-chip microcontroller is carried out acceleration information based on angular speed, angular movement variation, three-dimensional acceleration data
Integral operation twice obtains the moving distance data that mechanical arm should execute, and angular movement data are directly output as mechanical arm and are answered
When the rotational angle data of execution；
(5), the moving distance and rotational angle data that the mechanical arm obtained to step (4) should execute are handled, house
Abandon the moving distance and/or rotational angle data more than manipulator motion range；If obtaining the shifting for meeting manipulator motion range
Dynamic distance and/or rotational angle data, then enter next step；
(6), to the moving distance and/or rotational angle data for meeting manipulator motion range obtained in step (5), by
Signal is passed to mechanical arm motor by I/O mouthfuls by single-chip microcontroller, and driving mechanical arm completes required movement.
The utility model has the advantages that
1, by the teaching method of this robot, joint space or operation of the family unrestricted choice in robot can be used
Space carries out gesture teaching, more humanized, it is easier to be bonded the natural teaching mode of user.
2, user can carry out teaching to robot by selection trace movement or Large Amplitude Motion both of which, more
The operation for facilitating user, teaching error caused by avoiding user's operation improper, especially greatly improves showing for trace movement
Teach the teaching precision of journey.By selecting trace movement mode, it is lesser in movement change amount that mechanical arm can be greatlyd improve
Under the conditions of the safety that works, and can further increase the precision of manipulator motion, be occurred by a larger margin by gesture
Operation change, the man-machine friendly of equipment can also be improved；The selection of Large Amplitude Motion mode then can be in manipulator motion
Measure it is biggish under the conditions of reduce gesture practically variable quantity, keep gesture operation more flexible, simply.
3, the manipulator motion boundary saved in advance in single-chip microcontroller can cause mechanical arm to be transported to avoid the misoperation of user
It is dynamic to exceed feasible region.On the one hand the breakage of mechanical arm is avoided, certain guarantor is on the other hand also provided for the safety of user
Card.
4, this robot teaching method is real-time perfoming, does not need to save gesture variation data bank in advance, so both
Keep the variation of mechanical arm more various, meet actual production requirement, is also easy to safeguard, it can be with timely correction improperly teaching appearance
State makes the variation of mechanical arm more approach desired effect.
Further, the indicator body is the hand of operator.
Further, the single-chip microcontroller in the step (2) has the ability for carrying out Kalman filtering, it can using linearly
System state equation.
Further, the single-chip microcontroller in the step (2) needs to establish when handling signal by Kalman filtering algorithm
The state-space model of system:
Wherein Φ is state-transition matrix, and Γ is noise transfer matrix, and w (k) is dynamic noise, and C is calculation matrix, v (k)
It is measurement noise, Xk+1, y (k) be state and measured value using the moment；
The Kalman filtering process of corresponding above-mentioned equation is as follows:
Pk|k-1=Φ Pk-1ΦT+ΓQΓT
Kk=Pk/k-1CT(CPk/k-1CT+R]-1
Pk=(1-KkC)Pk|k-1
Wherein,For using laststate prediction as a result,It is laststate optimal result, Pk|k-1It isIt is right
The error variance answered, Pk-1It isCorresponding error variance, Q are the equation matrixes of system dynamic white noise, and R is that systematic observation is made an uproar
The equation matrix of sound.
Further, in step (4), the integration of acceleration two times asks the process of displacement specific as follows:
If the acceleration that acceleration transducer measures are as follows: a (k)
Once rate can be obtained to integrated acceleration:
Rate signal integral can must be once displaced:
Wherein, a (k) is acceleration signal, and v (k) is rate signal, and s (k) is displacement signal, akFor the acceleration at k moment
Sampled value, vkFor the rate value at k moment, a0=0, v0The time difference of=0, Δ t between k moment, k-1 moment double sampling.
Further, the control switch that selection is carried out to motor message should include two control buttons, and every kind is pressed
Button includes two kinds of working conditions, correspondingly determines that output signal type is Large Amplitude Motion signal or trace movement signal, closes
Save spatial movement or operating space movement.
Detailed description of the invention
Fig. 1 is robot teaching method conceptual scheme.
Specific embodiment
To keep purpose and the technical solution of the embodiment of the present invention clearer, below in conjunction with the attached of the embodiment of the present invention
Figure, is clearly and completely described the technical solution of the embodiment of the present invention.
In order to illustrate technical solutions according to the invention, it is illustrated in the following with reference to the drawings and specific embodiments:
A kind of robot teaching method, the operating procedure of this method are as follows:
1) gyroscope/accelerometer module 1, is fixed on user hand back with modes such as velcro；(process I in Fig. 1)
2) motor message type, is selected, control switch button 2 is pressed；(process II in Fig. 1)
3), under the premise of guaranteeing that attitudes vibration does not occur for the gyroscope/accelerometer module worn, to whole device
Operation is booted up, user carries out gesture teaching.Angular speed, the angular movement delta data of gyroscope output indicator body, three
The three-dimensional acceleration data of axis accelerometer output indicator body；Angular speed, angular movement variation, the three-dimensional acceleration number of acquisition
According to single-chip microcontroller is output to, it is dry that gesture shake and sensor clutter during removal teaching etc. is handled by Kalman filtering algorithm
Disturb data；Single-chip microcontroller is carried out acceleration information twice based on angular speed, angular movement variation, three-dimensional acceleration data
Integral operation obtains the moving distance data that mechanical arm should execute, and angular movement data, which are directly output as mechanical arm, to be held
Capable rotational angle data.
Whether observation single-chip microcontroller (component 3 in Fig. 1) alarms, as alarm lamp flashes.If alarm, illustrates performed by user
Gesture teaching movement have exceeded mechanical arm (component 12 in figure) motion range, this time teaching signal data be rejected, mechanical arm
It maintains the original state stationary, user is needed to make correct teaching operation again；If not alarming, illustrate that user's operation conforms to
It asks, mechanical arm can make corresponding teaching movement.(process III in Fig. 1).
Wherein single-chip microcontroller needs to establish the state-space model of system when handling signal by Kalman filtering algorithm:
Wherein Φ is state-transition matrix, and Γ is noise transfer matrix, and w (k) is dynamic noise, and C is calculation matrix, v (k)
It is measurement noise, Xk+1, y (k) be state and measured value using the moment；
The Kalman filtering process of corresponding above-mentioned equation is as follows:
Pk|k-1=Φ Pk-1ΦT+ΓQΓT
Kk=Pk/k-1CT(CPk/k-1CT+R]-1
Pk=(1-KkC)Pk|k-1
Wherein,For using laststate prediction as a result,It is laststate optimal result, Pk|k-1It isIt is right
The error variance answered, Pk-1It isCorresponding error variance, Q are the equation matrixes of system dynamic white noise, and R is that systematic observation is made an uproar
The equation matrix of sound.
And integration of acceleration two times described above asks the process of displacement specific as follows:
If the acceleration that acceleration transducer measures are as follows: a (k)
Once rate can be obtained to integrated acceleration:
Rate signal integral can must be once displaced:
Wherein, a (k) is acceleration signal, and v (k) is rate signal, and s (k) is displacement signal, akFor the acceleration at k moment
Sampled value, vkFor the rate value at k moment, a0=0, v0The time difference of=0, Δ t between k moment, k-1 moment double sampling.
The control switch button being mentioned above determines the type of single-chip microcontroller output signal, and then determines in single-chip microcontroller
To the Different treatments of signal provided by sensor.
Switch includes two select buttons 4,5 altogether, and respectively there are two types of states for each button, is divided into A, B and 1,2 state of a controls,
Wherein A, B button determine that output signal type is Large Amplitude Motion signal or trace movement signal, and 1,2 buttons determine output signal
Type is joint space motor message or operating space motor message.
A, 1 i.e. single-chip microcontroller is such as selected to transmit joint space Large Amplitude Motion signal to mechanical arm；
A, 2 i.e. single-chip microcontroller is such as selected to transmit operating space Large Amplitude Motion signal to mechanical arm；
B, 1 i.e. single-chip microcontroller is such as selected to transmit joint space trace movement signal to mechanical arm；
B, 2 i.e. single-chip microcontroller is such as selected to transmit operating space trace movement signal to mechanical arm.
Wherein, determine that the control button 4 of motion amplitude signal can be set separately by user's selection according to the actual situation
The ratio of gesture variable signal and practical control signal, is illustrated below with a kind of example.
In the present embodiment, when determining that single-chip microcontroller exports Large Amplitude Motion signal by control switch, user gesture movement
Distance and corner amplitude and manipulator motion distance and corner amplitude ratio be 1:1, as user perform displacement be 20cm
Straight line teaching movement, mechanical arm make the linearly operating of the 20cm of the same direction；
When determining that single-chip microcontroller exports trace movement signal by control switch, user gesture move distance and corner amplitude with
The ratio of manipulator motion distance and corner amplitude is 20:1, is acted as user performs the straight line teaching that displacement is 20cm, machine
Tool arm makes the linearly operating of the 1cm of the same direction.
The control switch determines that output signal type is that joint space or operating space are transported in one of the embodiments,
Dynamic signal depends on practical operation requirement and range, if it is desired to which mechanical arm tail end quickly reaches remotely a certain position, may be selected
Linkspace control button；If it is desired to which mechanical arm tail end relatively accurately executes a movement, selectively actuatable space control button；?
Joint and operating space button can be used in combination in order as needed.
4), according to the motion mode determined by control switch button, single-chip microcontroller can be to the process Kalman filtering of receiving
The gesture attitudes vibration signal of processing carries out different operations, solve driving each joint motions of mechanical arm driving motor 6~
11 motion amplitudes that should occur, each driving motor sequence have corresponded to six joints 13~18 on mechanical arm and then have made machinery
Arm completes the process of entire gesture teaching under the driving of driving motor.(process IV in figure)
The teaching operation process of this method includes: the coarse adjustment of joint space, the fine tuning of operating space, in conjunction with joint space and
Operating space carries out robot teaching.
The coarse adjustment of joint space ensure that the end effector of mechanical arm can reach near operating point within a short period of time,
It improves work efficiency to a certain extent, saves the working time, decrease the calculation amount inside single-chip microcontroller；It is empty in operation
Between fine tuning be to be directed to, when robot arm end effector reach operating point near when, should safely and smoothly reach as far as possible to
Process (work) region, the hair of the damages such as collision of robot arm end effector and workpiece caused by avoiding because of misoperation
It is raw, man-machine user friendly is enhanced, the safety of work is improved.
This combination joint space and operating space carry out teaching to robot and family unrestricted choice can be used in robot
Joint space or operating space carry out gesture teaching, it is more humanized, it is easier to be bonded the natural teaching demand of user；It is also
Real-time perfoming, it does not need to save gesture variation data bank in advance, had both made the variation of mechanical arm more various in this way, and met practical
Production requirement is also easy to safeguard, the variation of mechanical arm can be made more to approach expected effect with timely correction improperly teaching posture
Fruit.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (6)
1. a kind of robot teaching method, the system which uses includes sensing module, single-chip microcontroller, control switch, machine
Tool arm, sensing module include gyroscope and three axis accelerometer, which comprises the following steps:
(1), gyroscope and three axis accelerometer module are fixed in the indicator body for providing operational order, which is
Movable；
(2), angular speed, the angular movement delta data of gyroscope output indicator body, three axis accelerometer export indicator body
Three-dimensional acceleration data；
(3), the angular speed acquired in step (1), angular movement variation, three-dimensional acceleration data are output to single-chip microcontroller, passed through
Gesture shake and sensor noise jamming data during Kalman filtering algorithm processing removal teaching；
(4), single-chip microcontroller is carried out acceleration information twice based on angular speed, angular movement variation, three-dimensional acceleration data
Integral operation obtains the moving distance data that mechanical arm should execute, and angular movement data, which are directly output as mechanical arm, to be held
Capable rotational angle data；
(5), the moving distance and rotational angle data that the mechanical arm obtained to step (4) should execute carry out safe sex determination,
When the angle that motor will change is more than the physical limitations angular range of mechanical arm, program stopped is in current location, mechanical arm
It is motionless, and with buzzer warning, while giving up the moving distance and/or rotational angle data more than manipulator motion range；If
The moving distance for meeting manipulator motion range and/or rotational angle data are obtained, then enter next step；
(6), to the moving distance and/or rotational angle data for meeting manipulator motion range obtained in step (5), by monolithic
Signal is passed to mechanical arm motor by I/O mouthfuls by machine, and driving mechanical arm completes required movement.
2. robot teaching method according to claim 1, it is characterised in that: the indicator body is the hand of operator.
3. robot teaching method according to claim 1, it is characterised in that: the single-chip microcontroller in the step (3) has
Carry out the ability of Kalman filtering, it can utilize linear system state equation.
4. robot teaching method according to claim 2, it is characterised in that:
For single-chip microcontroller in the step (3) when handling signal by Kalman filtering algorithm, the state for needing to establish system is empty
Between model:
Wherein Φ is state-transition matrix, and Γ is noise transfer matrix, and w (k) is dynamic noise, and C is calculation matrix, and v (k) is to survey
Noise is measured, X (k+1), y (k) are the state and measured value using the moment；
The Kalman filtering process of corresponding above-mentioned equation is as follows:
Pk|k-1=Φ Pk-1ΦT+ΓQΓT
Kk=Pk/k-1CT(CPk/k-1CT+R]-1
Pk=(1-KkC)Pk|k-1
Wherein,For using laststate prediction as a result,It is laststate optimal result, Pk|k-1It isIt is corresponding
Error variance, Pk-1It isCorresponding error variance, Q are the equation matrixes of system dynamic white noise, and R is systematic observation noise
Equation matrix.
5. robot teaching method according to claim 1, it is characterised in that: in step (4), the acceleration accumulates twice
Dividing asks the process of displacement specific as follows:
If the acceleration that acceleration transducer measures are as follows: a (k)
Once rate can be obtained to integrated acceleration:
Rate signal integral can must be once displaced:
Wherein, a (k) is acceleration signal, and v (k) is rate signal, and s (k) is displacement signal, akIt is sampled for the acceleration at k moment
Value, vkFor the rate value at k moment, a0=0, v0The time difference of=0, Δ t between k moment, k-1 moment double sampling.
6. robot teaching method according to claim 1, it is characterised in that: described to carry out selection to motor message
Control switch should include two control buttons, and every kind of button includes two kinds of working conditions, correspondingly determine output signal type
For Large Amplitude Motion signal or trace movement signal, joint space movement or operating space movement.
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108340352A (en) * | 2018-02-09 | 2018-07-31 | 巨轮中德机器人智能制造有限公司 | The long-range real-time control method of industrial robot based on teaching joint arm |
| CN108388252B (en) * | 2018-04-10 | 2021-04-09 | 中科新松有限公司 | Robot teaching method, device, equipment and medium |
| CN109799771B (en) * | 2018-12-29 | 2021-01-05 | 深圳市越疆科技有限公司 | Control system, method and device of industrial robot |
| CN112008711A (en) * | 2019-05-28 | 2020-12-01 | 国网江苏省电力有限公司徐州供电分公司 | Six-axis inertial navigation control method and device for live working robot |
| CN112207857A (en) * | 2019-07-12 | 2021-01-12 | 上海智殷自动化科技有限公司 | Offline teaching system based on binocular vision system |
| CN111716352B (en) * | 2020-05-13 | 2022-04-29 | 中国电力科学研究院有限公司 | Power distribution network live working mechanical arm navigation obstacle avoidance method and system |
| CN116765942B (en) * | 2023-08-16 | 2023-11-14 | 泉州市智锐机械制造有限公司 | Automatic teaching component, continuous variable angle grinding equipment and automatic teaching process thereof |
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