CN107030679A - A kind of master slave mode teaching system and teaching method for mechanical arm - Google Patents
A kind of master slave mode teaching system and teaching method for mechanical arm Download PDFInfo
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- CN107030679A CN107030679A CN201710396562.6A CN201710396562A CN107030679A CN 107030679 A CN107030679 A CN 107030679A CN 201710396562 A CN201710396562 A CN 201710396562A CN 107030679 A CN107030679 A CN 107030679A
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- mechanical arm
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- arm
- master control
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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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Abstract
The present invention provides a kind of master slave mode teaching system and teaching method for mechanical arm, cardinal principle for the master slave mode teaching method of mechanical arm is by two identical mechanical arms or the actuation means with identical function, one as teaching mechanical arm (master control mechanical arm), another is as the mechanical arm (slave manipulator arm) for performing work, and by operating master control mechanical arm to realize, slave manipulator arm is run according to master control mechanical arm teaching track.Teaching is carried out with master control mechanical arm, slave manipulator arm is sent an instruction to after confirmation is errorless, slave manipulator arm performs the instruction that master control mechanical arm is sent.Can also master/slave mechanical arm real-time synchronization operation, the corresponding in real time and real-time execution of master/slave mechanical arm.Require higher work for non-repeatability, remote control and to real-time operation in this way, can be completed by way of formulating task, and reach high-precision requirement.
Description
Technical field
The present invention relates to the synchronous teaching technical field of mechanical arm and tow-armed robot, and in particular to a kind of for mechanical arm
Master slave mode teaching system and teaching method.
Background technology
In recent years, developing rapidly with mechanical arm technology, the raising of security cooperation and flexible joint technology, mechanical arm skill
Art be not confined to industry and manufacturing industry, and increasing field begins to use mechanical arm, such as, medical treatment, service trade, long-range control
System, safety check etc..Existing mechanical arm teaching can not meet many application scenarios, and higher want is proposed to mechanical arm teaching operation
Ask.
During using mechanical arm, formulation task is general to be acted and work mesh by programming teaching and dragging teaching setting
Mark, programming teaching mode is that mechanical arm performs action according to the programming instruction set, and dragging teaching is walked for driving machinery arm,
And run trace is stored in controller, later in use, controller instructs mechanical arm to walk according to run trace.Pass through mechanical arm
The programming of operation interface, which disclosure satisfy that, is normally applied occasion, but operating process is relatively complicated, and mode of operation is not simple friendly enough.Drag
Dynamic teaching is that only need to just can be with the design of execution by driving machinery arm arm compared to the advantage of programming teaching, it is not necessary to
The command mode of understanding numerous and complicated is gone, speed, track and the dynamics that can also be dragged according to user complete target action.
Although programming teaching and dragging teaching disclosure satisfy that common application environment, however, for non-repeatability and to real-time
Operation requires higher work, it is impossible to completed by formulating task state.For example, the mechanical arm for remote operation medical treatment,
Need to first pass through artificial analysis before operation and confirm, then formulate mechanical arm movement task, without artificial analysis and
In the case of confirmation, mechanical arm can not determine next action.This mode operated in observation, it is impossible to carried by programming teaching
Before carry out task programming.The accuracy (dynamics, speed) of skilled practitioners is unable to reach by programming mode in surgical procedure, and
Implementing the mechanical arm of operation can not directly drag again.
Based on above description, a kind of new teaching system and teaching method for mechanical arm is needed badly, to solve existing skill
What art was present requires higher work for non-repeatability and to real-time operation, it is impossible to by formulating asking for task state completion
Topic.
The content of the invention
The defect existed for prior art, an object of the present invention is to provide a kind of principal and subordinate's mould for mechanical arm
Formula teaching method, this method is applied to the synchronous teaching of mechanical arm and tow-armed robot, identical or with identical function by two
Actuation means, one as teaching mechanical arm (master control mechanical arm), another is as the mechanical arm (follower for performing work
Arm), by operating master control mechanical arm to realize, slave manipulator arm is run according to master control mechanical arm teaching mode, and this method is for non-heavy
Renaturation, remote operation and the work higher to real-time operation requirement, can be completed, and reach high-precision by way of formulating task
Degree is required.
The second object of the present invention is a kind of master slave mode teaching system for mechanical arm of offer, and the teaching system should
For above teaching method, higher work is required for non-repeatability, remote operation and to real-time operation, can be by formulating
The mode of task is completed, and reaches high-precision requirement.
The technical solution adopted by the present invention is as follows：
A kind of master/slave pattern teaching system for mechanical arm, including：
Master control mechanical arm, as teaching mechanical arm, run according to default teaching mode；
Slave manipulator arm, as the mechanical arm finally performed, run according to master control mechanical arm teaching mode；
Real-time control system including real time operating system and central processing unit, it is driven by operating master control mechanical arm to realize
Mechanical arm is run according to master control mechanical arm teaching mode；And
Laser tracking measurement system, master control mechanical arm and slave manipulator arm are demarcated and error compensation.
Preferably, the real time operating system uses embedded real-time operating system (RTOS)；Central processing unit is used
Intel Atom4 core processors.
A kind of master/slave pattern teaching method for mechanical arm, the teaching method is applied to described in claim 1 or 2
Teaching system, the teaching method includes step：
Operation master control mechanical arm is run according to predetermined manner, and slave manipulator arm is transported according to the teaching mode of master control mechanical arm
OK.
Preferably, the master control mechanical arm and the operation of slave manipulator arm real-time synchronization.
Preferably, the master control mechanical arm and the slave manipulator arm real-time synchronization method of operation include step：
Step 1: dragging master control mechanical arm to A points position (relative position)；
Step 2: slave manipulator arm is moved to A points position simultaneously；
Step 3: master control mechanical arm and the operation of slave manipulator arm real-time synchronization.
Preferably, the master control mechanical arm first carries out teaching, it is confirmed after, task is sent to slave manipulator arm, from
Dynamic mechanical arm receives the teaching tasks carrying according to master control mechanical arm after task.
Preferably, the control mode includes：
Step 1: master control mechanical arm and slave manipulator arm are run into zero position, that is, mechanical arm origin；
Step 2: master control mechanical arm is moved into A points position；
Step 3: confirming that master control mechanical arm teaching task is completed, master control mechanical arm teaching task is sent to slave manipulator arm,
Slave manipulator arm receives the teaching tasks carrying according to master control mechanical arm after task.
Preferably, the master control mechanical arm completes teaching by programming teaching or input mode.
Preferably, during whole teaching, by laser tracking measurement system to master control mechanical arm and slave manipulator arm
Demarcation and error compensation.
Preferably, the laser tracking measurement system is to master control mechanical arm and slave manipulator arm demarcation and error compensation
Process comprises the following steps：
Step 1: realized by setting up real robot D-H coordinate systems, determine the mutual position of each rotating shaft of robot
Put；
Step 2: a point is after the straight line without it rotates a circle, a circular path, circumference are formed in space
The plane at place is vertical with axis and the center of circle is located on axis, makes a certain axle of robot make stepping since null positions and turns
It is dynamic, and keep remaining axle not rotate, ring flange center point during each posture is located on same circular arc, crosses the circular arc center of circle
And the rectilinear direction (or opposite direction) vertical with plane where circular arc is exactly the axis direction of rotary shaft.
The master slave mode teaching system and teaching method for mechanical arm that the present invention is provided have advantages below：
Because the cardinal principle of the master slave mode teaching method for mechanical arm of this programme offer is identical by two
Mechanical arm or actuation means with identical function, one as teaching mechanical arm (master control mechanical arm), another is as holding
The mechanical arm (slave manipulator arm) of row work, by operating master control mechanical arm to realize slave manipulator arm according to master control mechanical arm teaching
Run track.Teaching is carried out with master control mechanical arm, slave manipulator arm is sent an instruction to after confirmation is errorless, slave manipulator arm is performed
The instruction that master control mechanical arm is sent.Can also the operation of master/slave mechanical arm real-time synchronization, master/slave mechanical arm is corresponding in real time and in real time
Perform.Require higher work for non-repeatability and to real-time operation in this way, can be by way of formulating task
Complete, and reach high-precision requirement.
Brief description of the drawings
Master control mechanical arm and slave manipulator arm that Fig. 1 provides for the present invention are in the structural representation of teaching system during origin
Figure；
Fig. 2 is in the structure of teaching system when A points, slave manipulator arm are in origin for the master control mechanical arm that the present invention is provided
Schematic diagram；
Master control mechanical arm and slave manipulator arm that Fig. 3 provides for the present invention are in the structural representation of teaching system during A points
Figure；
The teaching method flow chart that Fig. 4 provides for the present invention.
Wherein, 1- master controls mechanical arm；2- slave manipulator arms.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail：
Device embodiment
As shown in Figure 1 to Figure 3, the master/slave pattern teaching system for mechanical arm that the present invention is provided includes：Master control machinery
Arm 1, slave manipulator arm 2, real-time control system, laser tracking measurement system.
By two actuation means identical or with identical function, one as master control mechanical arm 1, another as from
Dynamic mechanical arm 2, master control mechanical arm 1 is teaching mechanical arm, and slave manipulator arm 2 is the mechanical arm finally performed.By operating master control
Mechanical arm 1 realizes that slave manipulator arm 2 is run according to the teaching mode of master control mechanical arm 1, master control mechanical arm 1 and slave manipulator arm 2 it
Between the error of absolute precision be not higher than 0.1mm, the real-time data synchronization cycle is less than 200 μ s.
Above method is realized, it is necessary to which master control mechanical arm 1 and slave manipulator arm 2 have corresponding and both arms absolute precision one in real time
Cause property technology.For real currency data syn-chronization and operation realtime uniform, between master control mechanical arm 1 and slave manipulator arm 2 using when
The control system of operating system RTOS, PowerLink industry real-time communication agreement and FPGA, to realize the master control within 200 μ s
Mechanical arm 1 and the data syn-chronization cycle period of slave manipulator arm 2.
Master control mechanical arm 1 and slave manipulator arm 2 can be run with real-time synchronization, can also master control mechanical arm 1 first carry out teaching,
Slave manipulator arm 2 according to master control mechanical arm 1 teaching task run.
Real-time control system uses embedded real-time operating system (RTOS) FreeRTOS as real time operating system,
FreeRTOS operating systems are free operating system completely, disclosed with source code, portable, can reduce, scheduling strategy it is flexible
The characteristics of, it can easily be transplanted on various single-chip microcomputers and run.FreeRTOS kernels support priority scheduling algorithm, and task can
Certain priority is endowed according to the difference of significance level, CPU always allows in ready state, highest priority task first
Operation.Central processing unit uses intel Atom4 core processors, and dominant frequency reaches 1.7G.Real-time communication is used and increased income
PowerLink industry real-time communication agreement openPowerLink schemes.POWERLINK and EtherCAT performances are similar.
The network of POWERLINK 10 slave stations of a main website band, minimum cycle period is 100 μ s or so, main website and slave station all bases
In standard ethernet, it can be realized on the chip with Ethernet interface such as ARM, DSP, FPGA.Using based on FreeRTOS
OpenPowerLink real-time communication scheme, cycle period be 200 μ s.
PowerLink agreements it is master/slave control be specially：Using teaching mechanical arm (master control mechanical arm 1) as main controlled node MN,
MN should periodically access-controlled node.Unicast data is sent to each configured CN (Preq frames) from MN, has then respectively matched somebody with somebody
The CN put should issue its data (Pres frames) by multicast to every other node；Mechanical arm (follower will be performed
Arm 2) as controlled node CN, the data transmit-receive of the node is completely by management node control, and CN nodes only could when MN is asked
Send data.
To ensure master control mechanical arm 1 and the precision uniformity of slave manipulator arm 2, using laser tracking measurement system to main control computer
Tool arm 1 and slave manipulator arm 2 are demarcated and error compensation, make master control mechanical arm 1 and the absolute fix precision of slave manipulator arm 2 reach ±
0.05mm millimeters, the error of absolute precision reaches 0.1mm between both arms.
Embodiment of the method
As shown in figure 4, a kind of master/slave pattern teaching method for mechanical arm that the application is provided is applied to described above
Master/slave pattern teaching system in.Teaching system is set to by two actuation means identical or with identical function, one
As master control mechanical arm 1, another is as slave manipulator arm 2, and master control mechanical arm 1 is teaching mechanical arm, and slave manipulator arm 2 is most
The mechanical arm performed eventually.Teaching method is：Operation master control mechanical arm 1 is run according to predetermined manner, and slave manipulator arm 2 is according to master control
The teaching mode of mechanical arm 1 is run.Period ensures that the error of absolute precision between master control mechanical arm 1 and slave manipulator arm 2 is not high
In 0.1mm, the real-time data synchronization cycle is less than 200 μ s.
Specific teaching mode can be divided into following two schemes：
Scheme one, master control mechanical arm 1 and the operation of the real-time synchronization of slave manipulator arm 2.Drag the point position of master control mechanical arm 1 to A
(relative position), slave manipulator arm 2 is moved to A points position simultaneously, and master control mechanical arm 1 and slave manipulator arm 2 are corresponding in real time, it is ensured that
Absolute accuracy error between master control mechanical arm 1 and slave manipulator arm 2 is not higher than 0.1mm.
Scheme two, master control mechanical arm 1 first carry out teaching, and slave manipulator arm 2 is transported according to the teaching task of master control mechanical arm 1
OK.Master control mechanical arm 1 completes teaching by control software or driving machinery arm, it is confirmed after, task is sent to follower
Arm 2, slave manipulator arm 2, which is received, is immediately performed task after task.Concretely comprise the following steps：
Step 1: master control mechanical arm 1 and slave manipulator arm 2 are run into zero position, that is, mechanical arm origin.
Step 2: by programming teaching or input mode, master control mechanical arm 1 is moved into A points position.
Step 3: confirming that the teaching task of master control mechanical arm 1 is completed, the teaching task of master control mechanical arm 1 is sent to follower
Arm 2, slave manipulator arm 2 receives task and is immediately performed.
During above teaching, mechanical arm is demarcated by laser tracking measurement system and error compensation.Laser tracking is surveyed
Amount system is demarcated to mechanical arm and the process of error compensation comprises the following steps：
Step 1: realized by setting up real robot D-H coordinate systems, determine the mutual position of each rotating shaft of robot
Put.
Step 2: a point is after the straight line without it rotates a circle, a circular path, circumference are formed in space
The plane at place is vertical with axis and the center of circle is located on axis.Make a certain axle of robot make stepping since null positions to turn
It is dynamic, and keep remaining axle not rotate, ring flange center point during each posture is located on same circular arc, crosses the circular arc center of circle
And the rectilinear direction (or opposite direction) vertical with plane where circular arc is exactly the axis direction of rotary shaft.Made an uproar in view of various
Being mixed into for sound, takes least square fitting circular arc and its place plane.In order to reduce the influence of noise, measure as much as possible
Target point.During measurement, laser beam can run into the stop of robot body, and auxiliary stand is added on the joint of end to expand survey
Measure scope.The introducing of the support only can cause the change of radius of turn, the determination without influencing whether axial location.As long as support
With certain rigidity, and by simple Screw assembly, without wanting in other designs and precision.
Significantly increased Step 3: reducing part axle arc radius, disturb the influence to measurement result.In measurement process also
It should be noted two problems.First, axle 1 influences whether the determination of basis coordinates system initial point, acts on particularly important, so should try one's best makes
Axle 1 can rotate out whole circumference track；Solution is adjustment robot pose (rather than relative to zero-bit pose), makes axle
1 can rotate ± 180 °.Second, the measurement accuracy of laser tracker is relevant with measurement distance, and the more big then precision of measurement distance is more
It is low.So, it should be tried one's best while certain measurement range is ensured and reduce tracker and the distance in the machine human world.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
Depending on protection scope of the present invention.
Claims (10)
1. a kind of master/slave pattern teaching system for mechanical arm, it is characterised in that including：
Master control mechanical arm, as teaching mechanical arm, run according to default teaching mode；
Slave manipulator arm, as the mechanical arm finally performed, run according to master control mechanical arm teaching mode；
Real-time control system including real time operating system and central processing unit, by operating master control mechanical arm to realize follower
Arm is run according to master control mechanical arm teaching mode；And
Laser tracking measurement system, master control mechanical arm and slave manipulator arm are demarcated and error compensation.
2. the master/slave pattern teaching system according to claim 1 for mechanical arm, it is characterised in that the real-time behaviour
Make system using embedded real-time operating system (RTOS)；Central processing unit uses intel Atom4 core processors.
3. a kind of master/slave pattern teaching method for mechanical arm, the teaching method is applied to showing described in claim 1 or 2
Teaching system, it is characterised in that the teaching method includes step：
Operation master control mechanical arm is run according to predetermined manner, and slave manipulator arm is run according to the teaching mode of master control mechanical arm.
4. the master/slave pattern teaching method according to claim 3 for mechanical arm, it is characterised in that the main control computer
Tool arm and the operation of slave manipulator arm real-time synchronization.
5. the master/slave pattern teaching method according to claim 4 for mechanical arm, it is characterised in that the main control computer
Tool arm and the slave manipulator arm real-time synchronization method of operation include step：
Step 1: dragging master control mechanical arm to A points position (relative position)；
Step 2: slave manipulator arm is moved to A points position simultaneously；
Step 3: master control mechanical arm and the operation of slave manipulator arm real-time synchronization.
6. the master/slave pattern teaching method according to claim 3 for mechanical arm, it is characterised in that the main control computer
Tool arm first carries out teaching, it is confirmed after, task is sent to slave manipulator arm, slave manipulator arm is received after task according to master control
The teaching tasks carrying of mechanical arm.
7. the master/slave pattern teaching method according to claim 6 for mechanical arm, it is characterised in that
The control mode includes：
Step 1: master control mechanical arm and slave manipulator arm are run into zero position, that is, mechanical arm origin；
Step 2: master control mechanical arm is moved into A points position；
Step 3: confirming that master control mechanical arm teaching task is completed, master control mechanical arm teaching task is sent to slave manipulator arm, it is driven
Mechanical arm receives the teaching tasks carrying according to master control mechanical arm after task.
8. the master/slave pattern teaching method according to claim 3 for mechanical arm, it is characterised in that the main control computer
Tool arm completes teaching by programming teaching or input mode.
9. the master/slave pattern teaching method according to claim 3 for mechanical arm, it is characterised in that whole teaching
Cheng Zhong, by laser tracking measurement system to master control mechanical arm and slave manipulator arm demarcation and error compensation.
10. the master/slave pattern teaching method according to claim 9 for mechanical arm, it is characterised in that the laser with
Track measuring system comprises the following steps to the process of master control mechanical arm and slave manipulator arm demarcation and error compensation：
Step 1: realized by setting up real robot D-H coordinate systems, determine the mutual alignment of each rotating shaft of robot；
Step 2: a point is after the straight line without it rotates a circle, formed in space where a circular path, circumference
Plane is vertical with axis and the center of circle is located on axis, make a certain axle of robot make stepping rotation since null positions,
And keep remaining axle not rotate, ring flange center point during each posture is located on same circular arc, cross the circular arc center of circle and
The rectilinear direction (or opposite direction) vertical with plane where circular arc is exactly the axis direction of rotary shaft.
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Family
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436915A (en) * | 2018-04-17 | 2018-08-24 | 上海达野智能科技有限公司 | Dual robot motion control method |
| CN109877840A (en) * | 2019-04-02 | 2019-06-14 | 哈尔滨工程大学 | A kind of double mechanical arms scaling method based on camera optical axis constraint |
| CN110091329A (en) * | 2019-04-30 | 2019-08-06 | 河海大学常州校区 | A kind of cooperative motion control method of double mechanical arms |
| CN110091325A (en) * | 2018-01-29 | 2019-08-06 | 广明光电股份有限公司 | The method of copy machine arm operation point |
| CN110666773A (en) * | 2018-07-02 | 2020-01-10 | 株式会社安川电机 | Motion teaching device, robot system, and motion teaching method |
| CN111515951A (en) * | 2020-04-29 | 2020-08-11 | 江苏集萃华科智能装备科技有限公司 | Teleoperation system and teleoperation control method for robot |
| CN112258929A (en) * | 2020-11-19 | 2021-01-22 | 浙江工业大学 | Remote interactive teaching aid for children |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091325A (en) * | 2018-01-29 | 2019-08-06 | 广明光电股份有限公司 | The method of copy machine arm operation point |
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| CN110666773A (en) * | 2018-07-02 | 2020-01-10 | 株式会社安川电机 | Motion teaching device, robot system, and motion teaching method |
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| CN109877840B (en) * | 2019-04-02 | 2021-09-28 | 哈尔滨工程大学 | Double-mechanical-arm calibration method based on camera optical axis constraint |
| CN110091329A (en) * | 2019-04-30 | 2019-08-06 | 河海大学常州校区 | A kind of cooperative motion control method of double mechanical arms |
| CN111515951A (en) * | 2020-04-29 | 2020-08-11 | 江苏集萃华科智能装备科技有限公司 | Teleoperation system and teleoperation control method for robot |
| CN112258929A (en) * | 2020-11-19 | 2021-01-22 | 浙江工业大学 | Remote interactive teaching aid for children |
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