CN106926243A - Robot teaching motion control method and system - Google Patents
Robot teaching motion control method and system Download PDFInfo
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- CN106926243A CN106926243A CN201710256934.5A CN201710256934A CN106926243A CN 106926243 A CN106926243 A CN 106926243A CN 201710256934 A CN201710256934 A CN 201710256934A CN 106926243 A CN106926243 A CN 106926243A
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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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40519—Motion, trajectory planning
Abstract
The present invention relates to a kind of robot teaching motion control method and system, methods described includes：Receive the teaching movement instruction of control end transmission；Wherein, the teaching movement instruction includes starting point and the direction of motion；Starting point and moving direction according to mechanical arm tail end calculate working region marginal position in this direction, and using the point on the marginal position as exercise end, according to the state and the exercise end of the teaching movement instruction, corresponding velocity planning algorithm planning teaching movement locus is called；The angle on target of each position, target angular velocity and target angular acceleration when each joint of calculating machine arm is run on the teaching movement locus, and the angle on target, target angular velocity and target angular acceleration are sent to equipment communication software are recorded.Technology of the invention, may be constructed a complete robot teaching kinetic control system, reduce robot control system development cost, improve control effect.
Description
Technical field
The present invention relates to technical field of robot control, more particularly to a kind of robot teaching motion control method and it is
System.
Background technology
Robot Operating System (ROS) are the robot operating systems increased income, and can be robot development person
One programming framework that is standardized, increasing income is provided.But ROS does not support that real-time thread is operated at present.Open Robot
Control Software (OROCOS) are also a kind of robot control software's programming framework increased income, and its feature is to support real
When threading operation, but its opening, versatility do not have ROS good.
Therefore, robot teaching motion is a kind of important motion mode of robot, at present in some application schemes,
OROCOS is used on ROS, but prior art is on the framework built, it is impossible to constitute a complete robot controller soft
Part, when teaching campaign is performed, it is impossible to make full use of the characteristic of ROS and OROCOS, system development costs are high, and control effect is poor.
The content of the invention
Based on this, it is necessary to for above-mentioned technical problem, there is provided a kind of robot teaching motion control method, system is reduced
Development cost, improves control effect.
A kind of robot teaching motion control method, including：
Receive the teaching movement instruction of control end transmission；Wherein, the teaching movement instruction includes starting point and motion side
To；
Starting point and moving direction according to mechanical arm tail end calculate working region marginal position in this direction, and will
Point on the marginal position, according to the state and the exercise end of the teaching movement instruction, is called as exercise end
Corresponding velocity planning algorithm planning teaching movement locus；
Angle on target, the target angle of each position when each joint of calculating machine arm is run on the teaching movement locus
Speed and target angular acceleration, and the angle on target, target angular velocity and target angular acceleration are sent to equipment communication software
Recorded.
A kind of robot teaching kinetic control system, including：Top control module, algoritic module and communication management module；
The top control module, the teaching movement instruction for receiving control end transmission；Wherein, the teaching movement instruction bag
Include starting point and the direction of motion；
The algoritic module, for calculating work in this direction according to the starting point and moving direction of mechanical arm tail end
Edges of regions position, and using the point on the marginal position as exercise end, state according to the teaching movement instruction and
The exercise end, calls corresponding velocity planning algorithm planning teaching movement locus；Each joint of calculating machine arm is described
The angle on target of each position, target angular velocity and target angular acceleration when being run on teaching movement locus, and by the target angle
Degree, target angular velocity and target angular acceleration；
The communication management module, for being recorded to the angle on target, target angular velocity and target angular acceleration.
Above-mentioned robot teaching motion control method and system, after receiving the teaching movement instruction of control end transmission, according to
Teaching movement instruction calculates the movement locus of teaching, and the mesh that each joint of real-time computer tool arm is run on the movement locus
The state parameters such as mark angle, target angular velocity and target angular acceleration, are carried out above-mentioned state parameter by equipment communication software
Record, realizes the teaching motion control process to robot；The technical scheme may be constructed a complete robot teaching fortune
Autocontrol system, reduces robot control system development cost, improves control effect.
Brief description of the drawings
Fig. 1 is the robot teaching motion control method flow chart of the embodiment of the present invention；
Fig. 2 is robot teaching kinetic control system structural representation；
Fig. 3 is that top control module performs algorithm flow chart；
Fig. 4 is that algoritic module performs algorithm flow chart；
Fig. 5 is the stroke of classical S type speed plannings, speed, acceleration, the derivative curve figure of acceleration；
Fig. 6 is the parameter calculation flow chart of S type speed plannings；
Fig. 7 is S type velocity planning algorithm whole flow process figures；
Fig. 8 stops S type velocity planning algorithm flow charts for real-time；
Fig. 9 is the hardware structure model of the robot control system of an application example；
Figure 10 is the architecture diagram built based on ROS and OROCOS；
Figure 11 is the state change schematic diagram of controller state machine；
Figure 12 is the state change schematic diagram of equipment state machine.
Specific embodiment
The embodiment of robot teaching motion control method of the invention is illustrated below in conjunction with the accompanying drawings.
In the embodiment of the present invention, the teaching campaign refers to user input starting point and moving direction, mechanical arm edge always
The direction is moved always, untill user assigns switching moving direction or has arrived at side working region edge, in the process
In, record the movement instruction at each moment of mechanical arm.
With reference to shown in Fig. 1, Fig. 1 is the robot teaching motion control method flow chart of the embodiment of the present invention, including：
S10, receives the teaching movement instruction of control end transmission；Wherein, the teaching movement instruction includes starting point and fortune
Dynamic direction；
In above-mentioned steps, it is possible to use default communication protocol simultaneously receives teaching in the way of asynchronous remote procedure call
Movement instruction；For example, the teaching movement instruction includes starting point θ0And the direction of motion；
In the process, can be that operator generates teaching movement instruction by human-computer interaction interface, the instruction is without passing
Pass parameter；By default communication protocol, IEC (The Internet Communications Engine, internet are such as based on
Communication engines) exploitation communication protocol, in the way of asynchronous remote procedure call from human-computer interaction interface receive teaching campaign refer to
Order.
S20, starting point and moving direction according to mechanical arm tail end calculate working region marginal position in this direction,
And using the point on the marginal position as exercise end, according to the state and the exercise end of the teaching movement instruction,
Call corresponding velocity planning algorithm planning teaching movement locus；
In one embodiment, after the teaching movement instruction is received, asynchronous triggering teaching Motor execution function is simultaneously
Teaching motion planning function is called by first interface；Wherein, the first interface is to be based on creating the real-time of OROCOS on ROS
Input/output interface；
Further, before calling teaching motion planning function, controller state machine is judged by teaching Motor execution function
Whether it is to prepare (Ready) state；If so, teaching campaign described in the Operational Caller method calls for passing through OROCOS
Planning function, and controller state machine is switched into execution teaching campaign (Active.Hands) state；If it is not, then refusal is performed
This time instruct；Wherein, the be changed state and reading state of the controller state machine, be provided with initialization, instruction wait,
Instruction performs, interrupts and enable corresponding state.
The teaching motion planning function is further performed, is calculated in this direction according to starting point and moving direction
Working region marginal position, and using the point on the marginal position as exercise end；After teaching motion planning function is called, root
Teaching motion planning flow is performed according to the teaching motion planning function, and checks whether controller state machine is to perform teaching fortune
Dynamic state；If so, the step of performing the movement locus of the calculating teaching, otherwise, exits execution flow.
S30, angle on target, the mesh of each position when each joint of calculating machine arm is run on the teaching movement locus
Mark angular speed and target angular acceleration, and the angle on target, target angular velocity and target angular acceleration are sent to equipment communication
Software is recorded.
Specifically, according to the teaching movement instruction and exercise end planning teaching movement locus, and calculating machine
The angle on target of each position that each joint of arm is run on the teaching movement locus, target angular velocity and target angle accelerate
Degree, the angle on target, target angular velocity and target angular acceleration are sent into equipment communication software by second interface is carried out
Record；Wherein, the second interface is based on the real-time input/output interface that OROCOS is created on ROS；
In one embodiment, if be input into currently without new command, and mechanical arm does not move to border；
S types velocity planning algorithm is then called to plan teaching movement locus；Every setting time τ according to machine of calculating respectively
The angle on target in each joint of tool arm, target angular velocity and target angular acceleration；
The angle on target, target angular velocity and target angular acceleration are sent to equipment communication software；
Equipment communication software is recorded.
As another embodiment, if receiving halt instruction or mechanical arm has reached border；
Then call and stop in real time S types velocity planning algorithm planning teaching movement locus；Counted respectively every setting time τ foundations
Calculate angle on target, target angular velocity and the target angular acceleration in each joint of one-time mechanical arm；
The angle on target, target angular velocity and target angular acceleration are sent to equipment communication software；
Equipment communication software is recorded.
Further, if receiving the instruction of change direction；
Then call and stop in real time S types velocity planning algorithm planning teaching movement locus；Counted respectively every setting time τ foundations
Calculate angle on target, target angular velocity and the target angular acceleration in each joint of one-time mechanical arm；Until mechanical arm stops；
After mechanical arm stopping, using current point as starting point, foundation moving direction calculates workspace in this direction
Domain marginal position, and the point is recalculated into working region marginal position as terminal.
In above-mentioned planning teaching movement locus, S types speed planning can be stopped using S types velocity planning algorithm and in real time and calculated
Method, arithmetic analysis are as follows：
(1) stroke of the S types velocity planning algorithm includes three phases：
Boost phase：Acceleration can increase to maximum since 0 with constant proportional linearity, be then lowered into 0；
Constant velocity stage：Remain a constant speed motion；
Decelerating phase：At the uniform velocity reduced speed now by described, final speed and acceleration return to 0.
(2) the real-time stopping S type velocity planning algorithm processes include：
When mechanical arm runs to t, 0 ＜ t ＜ T cook up one section of mechanical arm steady under current running status
Operation and fastest decelerating phase；T is teaching movement locus run duration.
The technical scheme of above-described embodiment, using the real-time input/output interface of OROCOS, by set communication protocol with
The mode of asynchronous remote procedure call receives teaching movement instruction, starts teaching movement instruction triggering function, calls robot to transport
The teaching Motor execution function of dynamic planning, the movement locus of teaching, and each pass of real-time computer tool arm are calculated according to the function
The state parameter such as the angle on target of operation, target angular velocity and target angular acceleration on the movement locus is saved, it is logical by equipment
Letter software is recorded above-mentioned state parameter, realizes the teaching motion control process to robot；The technical scheme can be entered
The reception of row control instruction, parsing, algorithm are called, performed, and parameter calculates and transmit etc. function in real time, may be constructed one completely
Robot teaching kinetic control system, reduce robot control system development cost, improve control effect.In addition combined with control
The application of device state machine processed and flag bit, realizes the optimal control to algorithm process process, further increases control effect.
Robot teaching motion control method is directed to, the invention provides the corresponding robot teaching fortune of the control method
Autocontrol system,
With reference to shown in Fig. 2, Fig. 2 is robot teaching kinetic control system structural representation, including：Top control module, algorithm
Module and communication management module；
The top control module, the teaching movement instruction for receiving control end transmission；Wherein, the teaching movement instruction bag
Include starting point and the direction of motion；
The algoritic module, for calculating work in this direction according to the starting point and moving direction of mechanical arm tail end
Edges of regions position, and using the point on the marginal position as exercise end, state according to the teaching movement instruction and
The exercise end, calls corresponding velocity planning algorithm planning teaching movement locus；Each joint of calculating machine arm is described
The angle on target of each position, target angular velocity and target angular acceleration when being run on teaching movement locus, and by the target angle
Degree, target angular velocity and target angular acceleration；
The communication management module, for being recorded to the angle on target, target angular velocity and target angular acceleration.
In one embodiment, the top control module is communicatively coupled by first interface with algoritic module, algorithm mould
Block is communicatively coupled by second interface with communication management module, and the first interface, second interface are based on establishment on ROS
The real-time input/output interface of OROCOS；
After the top control module receives the teaching movement instruction of control end transmission；Asynchronous triggering teaching Motor execution function is simultaneously
Teaching motion planning function is called by first interface；
The algoritic module performs the teaching motion planning function, calculates the point on marginal position as exercise end；
And by second interface by the angle on target, target angular velocity and target angular acceleration；
The communication management module is recorded the angle on target, target angular velocity and target angular acceleration.
The technical scheme of above-described embodiment, using the real-time input/output interface of OROCOS, top control module is logical by setting
Letter agreement receives teaching movement instruction in the way of asynchronous remote procedure call, starts teaching movement instruction triggering function, calls
The teaching Motor execution function of the robot motion planning of algoritic module, the movement locus of teaching is calculated according to the function, and in fact
The shapes such as angle on target, target angular velocity and the target angular acceleration that each joint of computer-chronograph tool arm is run on the movement locus
State parameter, communication management module is recorded above-mentioned state parameter, realizes the teaching motion control process to robot；The skill
Art scheme can be controlled the reception of instruction, parsing, and algorithm calls, performs, and parameter calculates and transmit etc. function in real time, can be with
A complete robot teaching kinetic control system is constituted, robot control system development cost is reduced, control effect is improved.
Used as embodiment, top control module performs algorithm flow, may be referred to shown in Fig. 3, and Fig. 3 is that top control module performs algorithm
Flow chart；It is specific as follows：
1) operator generates teaching movement instruction, the content of instruction, including starting point and movement by human-computer interaction interface
Direction.
2) teaching movement instruction is sent in the way of asynchronous remote procedure call by communication protocol from human-computer interaction interface
To top control module.
3) after instruction reaches top control module, can asynchronous triggering teaching Motor execution function.The function first determines whether controller
Whether state machine is Ready states.If not Ready states, then refusal execution this time instruction.
If 4) controller state machine is Ready states, following operation is performed：
A) the teaching motion planning function of the Operational Caller method call algoritic modules of OROCOS is then passed through,
And transmit order parameter.
B) controller state machine is converted into Active.PTP states.
Used as embodiment, algoritic module performs algorithm flow, may be referred to shown in Fig. 4, and Fig. 4 is that algoritic module performs algorithm
Flow chart；It is specific as follows：
1) teaching motion planning function is called by top control module, starts to perform teaching motion planning flow.
2) check whether controller state machine is Active.Hands states, if not then exiting.
3) working region marginal position in this direction is calculated according to starting point and moving direction, and using the point as end
Point.
If 4) reached border or received halt instruction：
A) call and stop S type velocity planning algorithm trajectory planning algorithms in real time, plan teaching movement locus；
B) angle on target in each joint of one-time mechanical arm, target angular velocity and target angular acceleration are calculated every 1 millisecond；
C) by the angle on target in each joint of mechanical arm, target angular velocity and target angular acceleration are sent to telecommunication management
Module；
D) current movement instruction is recorded.
5) if changing direction instruction：
A) call and stop S type velocity planning algorithm trajectory planning algorithms in real time, plan teaching movement locus；
B) angle on target in each joint of one-time mechanical arm, target angular velocity and target angular acceleration are calculated every 1 millisecond；
C) by the angle on target in each joint of mechanical arm, target angular velocity and target angular acceleration are sent to telecommunication management
Module；
D) current movement instruction is recorded.
If e) stopped, using current point as starting point, foundation moving direction calculates working region in this direction
Marginal position, and using the point as terminal；Repeat said process.
If 6) be input into without new command, border is not also arrived：
A) S type velocity planning algorithm trajectory planning algorithms are called, teaching movement locus is planned；
B) angle on target in each joint of one-time mechanical arm, target angular velocity and target angular acceleration are calculated every 1 millisecond；
C) by the angle on target in each joint of mechanical arm, target angular velocity and target angular acceleration are sent to equipment communication
Module；
D) current movement instruction is recorded.
The communication management module, can be further used for the status information of read machine people's motor, be transported according to robot
The status information of movable model calculating robot's mechanical arm, master control mould is fed back to by the status information of robot by the 3rd interface
Block, algoritic module is fed back to by the status information of robot by second interface；Wherein, the status information of the motor includes position
Put, speed and torque etc.；The status information of the mechanical arm includes joint angles, joint angular speed, joint angular acceleration, end
Pose, end linear velocity, end angular speed, end linear acceleration and end linear acceleration etc..
It is as follows respectively for S types and the real-time principle for stopping S type velocity planning algorithms：
1st, S types velocity planning algorithm：
Fig. 5 is the stroke of classical S type speed plannings, speed, acceleration, the derivative curve figure of acceleration；In S type speed
In planning algorithm, typically have it is assumed hereinafter that：
jmin=-jmax amin=-amax vmin=-vmax
Min and max are expressed as minimum value and maximum.
The time t of whole stroke can be divided into 3 stages in S type speed plannings：
Boost phase：t∈[0,Ta], in this stage, acceleration can be since 0, with constant jmaxProportional linearity increases
Then 0 is lowered back to maximum.
Constant velocity stage：t∈[Ta,Ta+Tv], this stage remains a constant speed.
Decelerating phase：t∈[Ta+Tv, T], wherein T=Ta+Tv+Td, this stage is with acceleration stage opposite deceleration rank
Section, final acceleration returns to 0.
Wherein we define：
Tj1：In boost phase, jerk keeps constant (jmax/jmin) time period；
Tj2：In the decelerating phase, jerk keeps constant (jmax/jmin) time period；
Ta：Boost phase；
Tv：Constant velocity stage；
Td：Decelerating phase；
T：Total used time；
Boost phase peak acceleration；
Decelerating phase minimum acceleration；
vlim：Maximal rate；
q0：Priming stroke；
q1：Terminal stroke；
v0：Initial velocity；
v1：Terminal velocity；
a0：Initial acceleration；
a1：Terminal acceleration；
It follows that the specific of S type speed plannings is to enable to mechanical arm to smooth to accelerate to maximum operational speed, then
Smoothly slow down again, and the overall used time is minimum.In we are actually used, the speed of beginning and end can be typically made, plus
Speed is all 0, i.e. v0=v1=0, v0=v1=0, hereafter we can all use this by default condition to simplify formula.
, it is necessary to calculate the parameter of curve before trajectory planning is carried out, Fig. 6 is the parameter calculation process of S type speed plannings
Figure, is defined as algorithm .1.Wherein：
T=Ta+Td+Tv
t0=0, t1=Tj1,t2=Ta-Tj1,t3=Ta
t4=Ta+Tv,t5=T4+Tj2,t6=Tv-Tj2,t7=Tv (7)
With reference to Fig. 7, Fig. 7 is S type velocity planning algorithm whole flow process figures, is defined as algorithm .2, wherein：
From the foregoing, it will be observed that because S type speed plannings need the coordinate of given starting point, and in tutorial function, terminal is not
Can know in advance, so during S types speed planning can not directly apply to the trajectory planning of tutorial function.
2nd, S type velocity planning algorithms are stopped in real time：
With reference to Fig. 8, Fig. 8 is defined as algorithm .3 to stop S type velocity planning algorithm flow charts in real time；Using above-mentioned S types speed
Degree planning algorithm carries out mechanical arm trajectory planning, when t is run to, it is necessary to allow mechanical arm to stop during 0≤t≤T.This
When need algorithm to cook up one section of suitable decelerating phase at once under current running status, make mechanical arm can steadily and
Promptly stop, algorithm is as follows：
(1) if t ∈ [t0,t1)；
(2) if t ∈ [t1,t2)；
(3) if t ∈ [t2,t3)；
q1=q1-vlimTv
t4=t3,t5=t5-Tv,t6=-Tv+t6,t7=-Tv+t7, T=t7,Tv=0 (11)
(4) if t ∈ [t3,t4)；
It is above-mentioned to stop S type velocity planning algorithm idiographic flows for real-time.
In order to become apparent from the technical scheme of embodiments of the invention, it is described below using hardware and software ring of the invention
Border application example：
With reference to shown in Fig. 8, Fig. 8 is the hardware structure model of the robot control system of an application example, in robot control
Device processed builds software architecture, runs on (SuSE) Linux OS, and the Linux main frames can be the PC of X86-based, or ARM
The development board of chip embedded framework, the control instruction of the human-computer interaction interface at top control module Access Control end.
Linux main frames can install following software：The real-time kernel of Xenomai or RTAI or RT Preempt is installed
Patch；The softwares such as ROS, OROCOS, rFSM are installed.
With reference to shown in Fig. 9, Fig. 9 is the architecture diagram built based on ROS and OROCOS；In control process, operation
Top control module, algoritic module and communication management module are run in system.
1st, for top control module：
(1) top control module creates the Package of ROS using the orocreate-catkin-pkg methods of ROS, is designated as Ec_
Control_system, then in Package, by the RTT for inheriting OROCOS：：TaskContext classes, are designated as Ec_
control_system_component。
In the constructed fuction of Ec_control_system_component classes, following operation is arranged to carry out：
A) using the RTT of OROCOS：：Input and RTT：：Output methods, the input to module, output interface is determined
Justice.
The interface being wherein input into includes：
1. the incoming diagnostic data of communication management module；
2. the incoming state feedback information of communication management module：Including motor operating state etc.；
3. the state of controller state machine；
The interface of output includes：
1. the triggering of controller state machine event, exports and gives controller state machine.
B) function call interface is set using the Operational Caller methods of OROCOS.
First, the call back function of event report is set：Event report treatment request is responded, including generation error
The information such as timestamp, event level, and by event information, be sent to human-computer interaction interface and show.
Second, the call back function that alarm is set is set：According to diagnostic message, judge whether to generate alarm.Such as, position,
Whether speed, acceleration transfinites etc..
3rd, the control instruction triggering function of various motion plannings is set, these functions are by the corresponding sound of algoritic module
Function is answered to be called.
C) attribute of the Properties methods definition top control module of OROCOS is called, top control module is defined into a machinery
The attribute of shoulder joint number.
(2) in StartHook () member function of Ec_control_system_component, it is as follows that execution is set
Operation：
A) whether audit log report is normal, if abnormal directly exit, and relevant information is passed by event reporting interface
Pass top control module treatment；
B) communication protocol developed by ICE sets up the communication connection with human-computer interaction interface, and calling communication agreement is provided
Dynamic asynchronous remote procedure call (RPC) method, the readjustment letter that is responded of control instruction initiated human-computer interaction interface
Number is bound.The call back function, according to ICE, (The Internet Communications Engine interconnect Netcom first
Letter engine) incoming first parameter of remote process asynchronous invoking method that provides, judge call type, then foundation this type
The movement instruction triggering function of Selection and call corresponding sports planning.
(3) CleanUpHook () member function for Ec_control_system_component, in order that must be somebody's turn to do
Function when top control module terminates operation, call automatically by realization, may be arranged as performing following operation：
A) communication protocol interface for calling ICE to develop, closes the communication connection with human-computer interaction interface.
(4) for controller state machine, with reference to shown in Figure 10, Figure 10 is the state change schematic diagram of controller state machine；
Can set Init, Ready, Fault, Active.Recovery, Active.Halt, Active.Hands,
Active.ToZero, Active.PTP, Active.Line, Active.Circle, Active.Stop totally ten one states, point
Dai Biao not initialize, wait instruction input, recovery, pause, manual teaching, return to origin, point-to-point motion, linear motion, circle
Arc motion, jerk state.Wherein, Active.Recovery, Active.Halt, Active.Hands, Active.ToZero,
Active.PTP, Active.Line, Active.Circle, Active.Stop this eight states constitute an Active states
Set, the node transition rule of Active is effective to eight sub- states.For example, to any one in eight states, write-in
" e_ready " event, is transferred to the state of controller state machine Ready states and (waits instruction input shape from current state
State).
Furthermore it is also possible to using Lua language, write the startup file of top control module, the startup file be arranged to carry out as
Lower action：
A) by the import methods of OROCOS, load-on module is run；
B) refreshing frequency of definition module, the priority level of thread；
C) attribute to module carries out assignment；
D) by the connect methods of OROCOS, by the input of top control module, output interface and algoritic module and communication tube
The interface for managing module sets up connection.
E) by the start methods of OROCOS, top control module is run, top control module will first call StartHook () function,
Then default refreshing frequency is pressed, in real time periodically invoked UpdateHook () function.
2nd, for algoritic module：
Algoritic module creates the Package of ROS using the orocreate-catkin-pkg methods of ROS, is designated as Ec_
Control_loop, then in Package, by the RTT for inheriting OROCOS：：TaskContext classes, are designated as Ec_
control_loop_component。
(1) in the constructed fuction of Ec_control_loop_component classes, it is arranged to carry out following operation：
A) algoritic module utilizes the RTT of OROCOS：：Input and RTT：：Output methods, to input, output interface is carried out
Definition.
The interface being wherein input into includes：
1. incoming motor operation data of communication management module；
2. the incoming diagnostic data of communication management module；
3. the state of equipment state machine；
4. the state of controller state machine；
The interface of output includes：
1. motor control instruction data, export to device communication module；
2. the triggering of equipment state machine event, exports and gives equipment state machine；
3. the triggering of controller state machine event, exports and gives controller state machine.
B) function call interface is set using the Operational Caller methods of OROCOS, what setting event was reported connects
Mouthful：The interface will trigger the return origin instruction response letter of the event report treatment various motion plannings of function setup of top control module
Number.
C) attribute of the Properties methods definition algoritic module of OROCOS, algoritic module is called to define a mechanical arm
The attribute of joint number.
(2) in StartHook () member function of Ec_control_loop_component, it is arranged to carry out as follows
Operation：
A) whether audit log report is normal, if abnormal directly exit, and relevant information is passed by event reporting interface
Pass top control module treatment；
B) check whether motor operation data channel there are data, if no data is directly exited, and relevant information is passed through into thing
Part reporting interface passes to top control module treatment.
(3) for UpdateHook () member function of Ec_control_loop_component classes, the function is set and is existed
When algoritic module runs, according to the frequency real time execution (being such as set to 100Hz) that user sets, could be arranged to perform following behaviour
Make：
A) Read Controller state machine state；
B) according to the different conditions of controller state machine, different operating is performed：
Ith, if point-to-point is moved, linear motion, circular motion, manual teaching, jerk returns to origin state.Now,
Perform following operation：
If the control instruction number of instruction buffer is less than 20, all instructions are sent jointly into telecommunication management mould
Block, and be wait instruction input state by the state change of controller state machine；
If the control instruction number of instruction buffer is more than 20,20 of instruction fetch queue end, it is sent to logical
Letter management module；
IIth, if halted state, then do nothing.
(4) for Ec_control_loop_component classes, point-to-point motion is defined, is moved along a straight line, circular motion,
Manual teaching, jerk returns to origin, pause, the function call interface such as recovery, realizes as follows：
A) point-to-point motion, linear motion, circular motion, manual teaching returns to the function of origin, and inside is realized as follows：
Check controller state machine whether in wait instruction input state.If not then exiting, and by relevant information
Top control module is passed to by event reporting interface to process；
Read the current status information of motor；
According to the current state of motor, call point-to-point to move respectively, move along a straight line, circular motion, manual teaching is returned to
The motion planning of origin, and the motor control instruction of generation is saved in instruction buffer；
Controller state machine is set to corresponding state.Such as point-to-point motion call back function, then by controller state machine
It is set to point-to-point motion state.
B) function is suspended, inside is realized as follows：
Check whether controller state machine is point-to-point motion, linear motion, circular motion, manual teaching returns to origin
Etc. state.If not then exiting, and relevant information is passed into top control module by event reporting interface processed；
The current state of current controller state machine is recorded, and the state of controller state machine is changed into halted state.
C) reconstruction, inside is realized as follows：
Check whether controller state machine is halted state.If not then exiting, and relevant information is passed through into event report
Accuse interface and pass to top control module treatment；
The state of controller state machine is changed into the state before pause.
D) jerk function, inside is realized as follows：
Ith, check whether controller state machine is point-to-point motion, linear motion, circular motion, manual teaching returns to original
The states such as point.If not then exiting, and relevant information is passed into top control module by event reporting interface process；
IIth, the current status information of motor is read；
IIIth, motor control instruction buffering area is reset；
IVth, speed planning motion planning is called, motor is allowed with the shortest time, speed is reduced to 0, and the motor control that will be generated
Instruction is saved in instruction buffer.
(5) Lua language is used, the startup file of algoritic module is write, following action is arranged to carry out：
A) by the import methods of OROCOS, loading algorithm module；
D) refreshing frequency of algoritic module, the priority level of thread are defined；
C) attribute to algoritic module carries out assignment；
D) by the connect methods of OROCOS, by the input of algoritic module, output interface and top control module and communication tube
The interface for managing module sets up connection.
E) by the start methods of OROCOS, algoritic module is run, algoritic module first calls StartHook () function, so
The refreshing frequency for setting is pressed afterwards, in real time periodically invoked UpdateHook () function.
3rd, for communication management module：
Communication management module can develop board communications, Ke Yi by the ttyACM0 in linux main frames minicom and Arm
A CANOpen master station protocol is run on the Arm development boards, the master station protocol can set an instruction buffer area, at most may be used
To store 25 instructions.
Communication management module can utilize the RTT of OROCOS：：Input and RTT：：Output methods and robot algorithm mould
Block and top control module are communicated.
Equipment state machine is set up using rFSM softwares, the service logic to communication management module is controlled.
Communication management module utilizes the RTT of OROCOS：：Input and RTT：：Output method and apparatus state machine is connected,
The state of equipment state machine, and reading state can be changed.
(1) communication module is created as the Package, Ran Hou of ROS using the orocreate-catkin-pkg methods of ROS
In Package, by the RTT for inheriting OROCOS：：TaskContext classes, create a Real time capable module of OROCOS, are designated as Ec_
component。
In the constructed fuction of Ec_component classes, following operation is arranged to carry out：
A) communication management module utilizes the RTT of OROCOS：：Input and RTT：：Output methods, to input, output interface
It is defined.
The interface being wherein input into includes：
1. incoming control instruction data of algoritic module；
2. the state of equipment state machine；
The interface of output includes：
1. diagnostic data, exports to algoritic module and top control module；
2. motor operation data and mechanical arm status data, export to algoritic module；
3. state machine events triggering, exports and gives equipment state machine.
B) using the Operational Caller method defined function calling interfaces of OROCOS, communication management module definition
The interface of event report, the event for triggering top control module by the interface reports treatment function.
C) attribute of the Properties methods definition communication management module of OROCOS is called, communication management module defines one
The attribute of individual joint of mechanical arm number.
(2) in StartHook () member function of Ec_component, it is arranged to carry out following operation：
A) whether audit log report is normal, if abnormal directly exit, and relevant information is passed by event reporting interface
Top control module is passed to be processed；
B) motor drives initialization：
Ith, set up with motor driver by ttyACM0 and communicated；
IIth, motor command buffering queue is emptied；
IIIth, motor is enabled, if enabled successfully, carries out next step, is otherwise exited；
IVth, the position of motor, the mechanical arm current state of calculating robot, including joint angles, mechanical arm tail end are read
Pose；
C) mechanical arm state initialization：
According to motor position, judge whether mechanical arm needs to perform back to zero motion.If any joint angles of mechanical arm with
Zero degree differs by more than 0.01 degree, then perform back to zero motion, calls point-to-point motion planning, and back to zero motion is planned.
D) state of equipment state machine is changed：
If the mechanical arm of robot needs to perform back to zero motion, control device state machine keeps Init states constant；
Otherwise, " e_nominal " event is sent to equipment state machine, is Active.Nominal by the State Transferring of equipment state machine.
(3) UpdateHook () member function for Ec_component, sets the function and is transported in communication management module
During row, with the frequency real time execution (being such as set to 1KHz) that user sets, following operation is arranged to carry out：
A) equipment state machine state is read；
B) according to the different conditions of equipment state machine, different operating is performed：
Ith, if Init states, the back to zero motion of mechanical arm is performed.Now, following operation is performed：
The clock of reading system, according to back to zero Motion trajectory result, calculates the movement instruction of the moment motor, and will
The wall scroll movement instruction is sent to CANOpen main websites.
If motion back to zero success, " e_nominal " event is sent to equipment state machine, equipment state machine is converted to
Active.Nominal, and the event is reported to top control module.
IIth, if Active.Nominal states.Now, following operation is performed：
From the input channel of control instruction data, control instruction is read, and store in motor command buffering queue.
The existing number of instructions of CANOpen main websites instruction buffer is read, if less than 10, is then disposably referred to from motor
15 movement instructions of taking-up are sent to CANOpen main websites in making buffering queue.If the number of instructions of motor command buffering queue
It is less than 15, then disposable to be all sent to CANOpen main websites.
IIIth, if Active.Recovery states.Now, communication management module is in recovery state.
Now, according to diagnostic message, system mode is recovered, if being successfully recovered, " e_ is sent to equipment state machine
Nominal " events, Active.Nominal is converted to by equipment state machine.And report the event to top control module.
If recovery is unsuccessful, " e_fault " event is sent to state machine, state machine is converted to Fault states, by the event
Report to top control module, and directly exit UpdateHook ().
IVth, if Active.Halt states.Now, module placed in a suspend state, performs following operation：Check control
Whether there is new instruction in the input channel of director data, if there is new command, read control instruction, and store to motor command
In buffering queue.
Vth, if Active.Hands states.Now, module is in manual mode, performs following operation：
The clock of reading system, according to Motion trajectory result, calculates the movement instruction of the moment motor, and by the list
Bar movement instruction is sent to CANOpen main websites.
VIth, if Fault states, then UpdateHook () is directly exited.
C) reading motor status, normatron tool shoulder joint and end movement status information according to mechanical arm, and
By output data passage, algoritic module and top control module are passed to；
D) whether the wrong report information of control main website is checked, if error message, then diagnostic message calculation is passed into
Method module and top control module." e_recovery " event is sent to equipment state machine, equipment state machine is converted to
Active.Recovery states are simultaneously reported the event to top control module.
(4) CleanUpHook () member function for Ec_component, the function module terminate operation when, from
It is dynamic to call, set and perform following operation：
A) close motor and drive enable；
B) motor drive connection is closed.
(5) with reference to shown in Figure 11, Figure 11 is the state change schematic diagram of equipment state machine.Total Init (initialization),
Fault (interruption), Active.Recovery (recovery), Active.Hands (manual teaching), Active.Halt (pause),
Six states of Active.Nominal (operating).Active.Recovery、Active.Hands、Active.Halt、
Tetra- states of Active.Nominal constitute a state set for Active (enable), and the node transition rule of Active is right
Four sub- states are effective.
(6) Lua language is used, the startup file of the module is write, the startup file sets and performs following action：
A) by the import methods of OROCOS, communication management module is loaded；
B) refreshing frequency of communication management module, the priority level of thread are defined；
C) attribute to communication management module carries out assignment；
D) by the connect methods of OROCOS, by the input of communication management module, output interface and top control module and calculation
The interface of method mould etc. sets up connection.
E) by the start methods of OROCOS, communication management module is run, communication management module first calls StartHook
() function, then refreshing frequency good by definition, in real time periodically invoked UpdateHook () function.
For above-mentioned top control module, algoritic module and communication management module, it is set to after operation, if during user needs
Way stops the module, while the ctrl keys of keypad and D keys.
To sum up embodiment, based on ROS and OROCOS, using the real time characteristic of OROCOS, it is ensured that software program it is real-time
Performance；The opening of ROS is made full use of, top control module, algoritic module and communication management module based on ROS, OROCOS exploitation
Real-time Communication for Power is carried out, a complete robot controller software is collectively formed；Further established controller state machine and set
Standby state machine, so as to realize effectively managing the service logic of top control module, communication management module.
By the RTT of OROCOS：：Input,RTT：：Output methods set up top control module, algoritic module and telecommunication management
The data input of module, output channel, by the Operational Caller method defined function calling interfaces of OROCOS, lead to
The Properties methods for crossing OROCOS define the attribute of top control module, algoritic module and communication management module.Thus it is guaranteed that
Independence and decoupling between top control module, algoritic module and communication management module.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the invention, and its description is more specific and detailed, but simultaneously
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of robot teaching motion control method, it is characterised in that including：
Receive the teaching movement instruction of control end transmission；Wherein, the teaching movement instruction includes starting point and the direction of motion；
Starting point and moving direction according to mechanical arm tail end calculate working region marginal position in this direction, and by the side
Point on edge position, according to the state and the exercise end of the teaching movement instruction, is called corresponding as exercise end
Velocity planning algorithm planning teaching movement locus；
Angle on target, the target angular velocity of each position when each joint of calculating machine arm is run on the teaching movement locus
And target angular acceleration, and the angle on target, target angular velocity and target angular acceleration are sent to equipment communication software carry out
Record.
2. robot teaching motion control method according to claim 1, it is characterised in that if defeated currently without new command
Enter, and mechanical arm does not move to border；S types velocity planning algorithm is called to plan teaching movement locus；
If receiving halt instruction or mechanical arm having reached border, call and stop in real time the planning teaching of S types velocity planning algorithm
Movement locus.
3. robot teaching motion control method according to claim 2, it is characterised in that the calculating machine arm each
The step of the angle on target, target angular velocity and target angular acceleration of each position that joint is run on the teaching movement locus
Suddenly include：
According to the teaching movement locus, every setting time τ according to the target angle for calculating each joint of one-time mechanical arm respectively
Degree, target angular velocity and target angular acceleration.
4. robot teaching motion control method according to claim 2, it is characterised in that the S types speed planning is calculated
The stroke of method includes three phases：
Boost phase：Acceleration can increase to maximum since 0 with constant proportional linearity, be then lowered into 0；
Constant velocity stage：Remain a constant speed motion；
Decelerating phase：At the uniform velocity reduced speed now by described, final speed and acceleration return to 0.
5. the robot teaching motion control method according to any one of Claims 1-4, it is characterised in that also include：
After the teaching movement instruction is received, asynchronous triggering teaching Motor execution function simultaneously calls teaching by first interface
Motion planning function；
The teaching motion planning function is performed, and plans teaching movement locus；
And the angle on target, target angular velocity and target angular acceleration are sent to by equipment communication software by second interface
Recorded；
Wherein, the first interface, second interface are based on the real-time input/output interface that OROCOS is created on ROS.
6. robot teaching motion control method according to claim 5, it is characterised in that if receive change direction referring to
Order, calls and stop in real time S types velocity planning algorithm planning teaching movement locus；And after mechanical arm stopping, current point is made
It is starting point, foundation moving direction calculates working region marginal position in this direction, and the point is counted again as terminal
Calculate working region marginal position.
7. robot teaching motion control method according to claim 6, it is characterised in that the real-time stopping S types speed
Degree planning algorithm process includes：
When mechanical arm runs to t, 0 ＜ t ＜ T cook up one section of mechanical arm even running under current running status
And the fastest decelerating phase；Wherein, T is teaching movement locus run duration.
8. robot teaching motion control method according to claim 7, it is characterised in that also include：
Before teaching motion planning function is called, the teaching Motor execution function judges whether controller state machine is to prepare shape
State；
If so, teaching motion planning function described in the Operational Caller method calls for passing through OROCOS, and will control
Device state machine switches to execution teaching motion state；If it is not, then refusal performs this time instruction.
9. robot teaching motion control method according to claim 8, it is characterised in that also include：
After teaching motion planning function is called, teaching motion planning flow is performed according to the teaching motion planning function, and
Check whether controller state machine is to perform teaching motion state；If so, the step of performing the movement locus of the calculating teaching,
Otherwise, execution flow is exited.
10. a kind of robot teaching kinetic control system, it is characterised in that including：Top control module, algoritic module and telecommunication management
Module；
The top control module, the teaching movement instruction for receiving control end transmission；Wherein, the teaching movement instruction includes
Initial point and the direction of motion；
The algoritic module, for calculating working region in this direction according to the starting point and moving direction of mechanical arm tail end
Marginal position, and using the point on the marginal position as exercise end, state according to the teaching movement instruction and described
Exercise end, calls corresponding velocity planning algorithm planning teaching movement locus；Each joint of calculating machine arm is in the teaching
The angle on target of each position, target angular velocity and target angular acceleration when being run on movement locus, and by the angle on target, mesh
Mark angular speed and target angular acceleration；
The communication management module, for being recorded to the angle on target, target angular velocity and target angular acceleration.
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