CN107097225A - Robot device and its motion control method - Google Patents
Robot device and its motion control method Download PDFInfo
- Publication number
- CN107097225A CN107097225A CN201610098889.0A CN201610098889A CN107097225A CN 107097225 A CN107097225 A CN 107097225A CN 201610098889 A CN201610098889 A CN 201610098889A CN 107097225 A CN107097225 A CN 107097225A
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- Prior art keywords
- rotary shaft
- current location
- control method
- interpolation
- point
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
A kind of robot device and its motion control method, the robot device include：Articulated robot arm, for the main frame of the rotary shaft and start of joint relative rotation of the mechanical arm rotary shaft, the main frame is to control the control method of the rotary shaft to be first to obtain target location of the current location with the rotary shaft of the rotary shaft, carry out point-to-point motion again and calculate the position of the rotary shaft, therefore during by point-to-point motion, the position of the rotary shaft is calculated simultaneously, with when the movement locus of the mechanical arm may exceed working range, the main frame can correct the motion of the rotary shaft in real time, and the movement locus for being prevented effectively from the mechanical arm exceeds working range.
Description
Technical field
The present invention relates to a kind of control system, more particularly to a kind of robot device and its motion control method.
Background technology
In modern production line, because robot device's pickup has low, the object stay in grade of efficiency high, cost etc. excellent
Point, therefore it has been widely used for substitution manpower production.
As shown in figure 1, robot device 1 of the prior art is for six axis joint type mechanical arms, it is by six rotations
Rotating shaft 11,12,13,14,15,16 is relatively rotated for the joint of each mechanical arm 10,100, to control each mechanical arm 10,100
Position and state, and the common motion control method of the robot device 1 be point-to-point (general term PTP) move and straight line make up the difference
(general term LINE) is moved.
Described point-to-point motion carries out interpolation using six shaft angle degree of current location and target location
, and then control machinery arm, and the run time of the point-to-point motion is shorter, but its motion track does not have (Interpolation)
It is regular.Wherein, the current location represents the present position of the distal point of mechanical arm, and the target location represents mechanical arm
At the end of motion, the position of its distal point, and the interpolation is also known as interpolation, represents that digital control system determines motion according to pattern
The process of track.
Described straight line makes up the difference to move carries out interpolation, and the line using the Cartesian coordinate distance of current location and target location
Property the make up the difference motion track of motion be straight line, but its run time is more long.
Above two mode can all make device reach identical position, therefore typically not require the situation of tracking condition
Under, user would generally select more timesaving point-to-point motion.
And when carrying out point-to-point motion, the robot device 1 has the shortcoming for being difficult to predicted motion track, thus causes
The movement locus S of the end mechanical arm 100 of the robot device 1 easily exceeds default working range R, shown in such as Fig. 1 ',
Triggering siren is caused, or even occurs the situation that the robot device 1 collides other boards.Wherein, described working range R is also
Claim software extreme limit of travel, it represents the space or ornaments because of working environment, limits the working range of this mechanism, to ensure that work is pacified
Entirely.
Furthermore, in order to ensure work safety, also there is part user to control the respectively machine from the method for motion of linearly making up the difference
Tool arm 10,100, but the robot device 1 thus can increase the working time.
Therefore, the variety of problems of above-mentioned prior art how is solved, actually current industry problem urgently to be resolved hurrily.
The content of the invention
To solve the variety of problems of above-mentioned prior art, the present invention discloses a kind of robot device and its motion control side then
Method, the robot device includes：Articulated robot arm；Multiple rotary shafts, are pivoted to the mechanical arm, for the mechanical arm
Joint by relative rotation；And main frame, the rotary shaft is electrically connected with to control the start of the rotary shaft.
The present invention also provides a kind of motion control method of the host computer control rotary shaft, first obtains the current of the rotary shaft
Position and the target location of the rotary shaft, then carry out the position of point-to-point motion and the instant computing rotary shaft.The calculating rotation
The step of position of rotating shaft, includes：Calculate the interpolation position of the rotary shaft；Judge the interpolation position and the present bit of the rotary shaft
Whether identical put, acted if it is different, the interpolation position then is sent into motion control card with control machinery arm, and by the interpolation
Position is used as current location；And judge whether the current location after the renewal is identical with the target location, if when identical, tying
The beam point-to-point motion.
In foregoing robot device, the articulated robot arm has six joints, with six rotary shafts of correspondence.
In foregoing motion control method, the current location is shaft angle degree.
In foregoing motion control method, the target location is shaft angle degree.
In foregoing motion control method, the interpolation position is angle interpolation.
In foregoing motion control method, the step of the interpolation position of the calculating rotary shaft, the interpolation position is first obtained,
Obtained again with forward kinematics and judge whether to meet working range.
In foregoing motion control method, whether identical is walked for the interpolation position for judging the rotary shaft and the current location
In rapid, if judge that the interpolation position of the rotary shaft is identical with the current location, the main frame can send warning.
In foregoing motion control method, this judges whether identical is walked the current location after the renewal with the target location
In rapid, if judge that the current location after the renewal is differed with the target location, the calculating rotary shaft is re-started
The flow of position.
From the foregoing, it will be observed that robot device and its motion control method of the present invention, mainly by point-to-point motion, together
When calculate the position of the rotary shaft, if the movement locus of the mechanical arm may exceed working range, the main frame be repaiied
The just motion of the rotary shaft, to avoid the movement locus of the mechanical arm from exceeding working range, therefore can not only overcome the robot
The problem of device exceeds working range, and because can work of the correction motion track without influenceing the robot device in real time when
Between.Therefore, robot device of the invention and its motion control method can take into account the shortening of work safety and working time.
Brief description of the drawings
Fig. 1 is the side schematic view of the robot device of prior art；
Fig. 1 ' is the movement locus and the floor map of working range of the end arm of the robot device of prior art；
Fig. 2 is the flow chart of the motion control method of the present invention；And
Fig. 3 is that the movement locus of the robot device of the motion control method of application drawing 2 and the plane of working range are illustrated
Figure.
Reference：
1 robot device
10th, 100 mechanical arm
11st, 12,13,14,15,16 rotary shaft
20 main frames
R working ranges
S, L movement locus
Embodiment
Illustrate embodiments of the present invention by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed in book understands other advantages and effect of the present invention easily.
Fig. 2 is the flow chart of the motion control method of the present invention.In the present embodiment, the motion control method is applied to such as
Robot device 1 shown in Fig. 1, that is, install the main frame 20 matched somebody with somebody and be loaded in controller, therefore illustrate below also referring to Fig. 1 and Fig. 2.
As shown in Fig. 2 the robot device 1 (it has six axis joint type mechanical arms 10,100 and main frame 20) is in entering
During row point-to-point motion, angle of the main frame 20 to calculate the rotary shaft 11,12,13,14,15,16, it first obtains six rotations
The target position of the shaft angle degree of the current location of rotating shaft 11,12,13,14,15,16 and six rotary shafts 11,12,13,14,15,16
The shaft angle degree put, then point-to-point motion is carried out, and the position of six rotary shafts 11,12,13,14,15,16 is calculated in real time.Specifically
The step of ground, position of six rotary shafts of the calculating 11,12,13,14,15,16, is as described below.
First, the operation of step 200 is carried out, is planned according to the translational speed of mechanical arm 10,100, to calculate the respectively rotation
The interpolation position (such as angle interpolation) of axle 11,12,13,14,15,16, its as each rotary shaft of this time angle.For example, in
After the angle for obtaining first rotary shaft 11, obtained with forward kinematics and judge whether to meet working range, wherein, this is suitable
To the algorithm that kinematics is the Cartesian coordinate position that a kind of angle with each axle extrapolates distal point.
Therefore, if judge that the angle of first rotary shaft 11 does not meet working range, first rotary shaft 11 is cancelled
This angle interpolation, and retain original angle, the second rotary shaft 12 is sequentially performed afterwards to the angle of the 6th rotary shaft 16
Spend interpolation；If judge that the angle of first rotary shaft 11 meets working range, second rotary shaft 12 is sequentially continued executing with
To the angle interpolation of the 6th rotary shaft 16, first rotary shaft 11 of its calculating process and this is identical.
After the angle interpolation of first to the 6th rotary shaft 11,12,13,14,15,16 terminates, the work of step 201 is carried out
Industry, judges the respectively angle interpolation (the shaft angle degree i.e. after interpolation) of the rotary shaft 11,12,13,14,15,16 and the current location
Whether shaft angle degree is identical.
If judging shaft angle degree and the shaft angle degree phase of the current location after the respectively interpolation of rotary shaft 11,12,13,14,15,16
Meanwhile, then the warning operation of step 202 is carried out, i.e., when can not be avoided by the amendment of the angle interpolation beyond working range
During situation, the main frame 20 can send warning immediately.
If judging the shaft angle degree of shaft angle degree each after the interpolation of rotary shaft 11,12,13,14,15,16 and the current location not
When identical, then it represents that the interpolation result of six rotary shafts 11,12,13,14,15,16 belongs to normal, therefore carry out the work of step 203
Industry, motion control card is sent to by the shaft angle degree after interpolation, and is used as using the shaft angle degree after interpolation the shaft angle degree of current location.Tool
Body, the angle-data after interpolation is sent to motion control card, with when the robot device 1 operates, after this interpolation
Respectively the mechanical arm 10,100 is acted for angle-data control.
Finally, after the operation of step 203, the operation of step 204 is carried out, the axle of the current location after the renewal is judged
Whether angle is identical with the shaft angle degree of the target location.If the shaft angle degree of the current location after the renewal and the axle of the target location
When angle is differed, then it represents that point-to-point motion not yet terminates, need to repeat the above steps 200 to step 203 operation；If this is more
When the shaft angle degree of current location after new is identical with the shaft angle degree of the target location, then it represents that the point-to-point motion has terminated.
Therefore, motion control method system of the invention by when calculating six shaft angles and spending, coordinate in the lump six rotary shafts 11,
12nd, the judgement of 13,14,15,16 working range, thus ought the action of each rotary shaft 11,12,13,14,15,16 can exceed work
When making scope, then current calculate first cancels the shaft angle degree after the rotary shaft interpolation, maintains the shaft angle degree of the rotary shaft current location,
Start the action of the respectively mechanical arm 10,100 again.Thereby, it is avoided that the motion of the mechanical arm 10,100 of the robot device 1
Track exceeds default working range, therefore when the robot device 1 is in start, new interpolation position can make exceeds work originally
The action of scope becomes normal execution.
Specifically, as shown in Figure 3, when the movement locus of end mechanical arm 100 may exceed working range R
When, its movement locus L along working range R edge, will make the end mechanical arm after the motion control method amendment
100 movement locus L is located in working range R.
In summary, motion control method of the invention is rotated in point-to-point motion while calculating each rotary shaft at present
The Cartesian coordinate derived, if the movement locus for having any mechanical arm exceeds the situation of working range, is repaiied
Just, thereby overcome the problem of movement locus of mechanical arm exceeds working range, therefore can effectively solve robot device beyond work
The problem of making scope, and because the real-time correction motion track of energy is without influenceing the working time of robot device.
Furthermore, motion control method of the invention can just enter only when the robot device may exceed working range
The amendment of row movement locus, therefore the robot device, when non-correction motion track, its working time can't increase.
Therefore, motion control method of the invention can reduce mechanical arm and occur beyond the situation of working range, and will not
Cause the working time to increase, therefore the shortening of work safety and working time can be taken into account.
Principle and its effect of the above-described embodiment to the illustrative present invention, not for the limitation present invention.It is any
Those skilled in the art can modify without prejudice under spirit and scope of the invention to above-described embodiment.Therefore this hair
Bright rights protection scope, listed by claims that should be as be described hereinafter.
Claims (9)
1. a kind of robot device, including：
Articulated robot arm；
Multiple rotary shafts, axle is connected to the articulated robot arm, for the articulated robot arm joint by relative rotation；
And
Main frame, the start to control the rotary shaft, the process controlled is first to obtain current location and the rotation of the rotary shaft
The target location of rotating shaft, then carry out point-to-point motion and calculate the position of the rotary shaft in real time, wherein, the calculating rotary shaft
The step of position, includes：
Calculate the interpolation position of the rotary shaft；
Judge whether the interpolation position of the rotary shaft is identical with the current location, if judging the interpolation position of the rotary shaft with deserving
Front position is different, then the interpolation position of the rotary shaft is replaced into the current location, to update the current location；
Current location after this is updated is sent to the main frame；And
Judge whether the current location after the renewal is identical with the target location, if judging the current location after the renewal and the mesh
Cursor position is identical, then terminates the point-to-point motion.
2. robot device as claimed in claim 1, wherein, the articulated robot arm has six joints, with correspondence
Six rotary shafts.
3. a kind of motion control method of robot device, the robot device is comprising articulated robot arm, for the joint type
The main frame of the rotary shaft and start of joint relative rotation of the mechanical arm rotary shaft, this method includes：
Obtain the current location of the rotary shaft and the target location of the rotary shaft；And
Carry out point-to-point motion and calculate the position of the rotary shaft in real time, wherein, the flow system of the position of the calculating rotary shaft
Comprising：
Calculate the interpolation position of the rotary shaft；
Judge whether the interpolation position of the rotary shaft is identical with the current location, if judging the interpolation position of the rotary shaft with deserving
Front position is different, then the interpolation position is sent into motion control card is acted with control machinery arm, and the interpolation position is made
For current location；And
Judge whether the current location after the renewal is identical with the target location, if judging the current location after the renewal and the mesh
When cursor position is identical, then terminate the point-to-point motion.
4. motion control method as claimed in claim 3, wherein, the current location is shaft angle degree.
5. motion control method as claimed in claim 3, wherein, the target location is shaft angle degree.
6. motion control method as claimed in claim 3, wherein, the interpolation position is angle interpolation.
7. motion control method as claimed in claim 3, wherein, it is the step of the interpolation position of the calculating rotary shaft：First
The interpolation position is obtained, then is obtained with forward kinematics and judges whether to meet working range.
8. motion control method as claimed in claim 3, wherein, the interpolation position of the judgement rotary shaft and the current location
Whether in identical step, if judge that the interpolation position of the rotary shaft is identical with the current location, the main frame can send police
Show.
9. motion control method as claimed in claim 3, wherein, current location and the target location after the judgement renewal
Whether in identical step, if judge that the current location after the renewal is differed with the target location, the meter is re-started
Calculate the flow of the position of the rotary shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610098889.0A CN107097225B (en) | 2016-02-23 | 2016-02-23 | Robot device and its motion control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610098889.0A CN107097225B (en) | 2016-02-23 | 2016-02-23 | Robot device and its motion control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107097225A true CN107097225A (en) | 2017-08-29 |
| CN107097225B CN107097225B (en) | 2019-10-11 |
Family
ID=59658523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610098889.0A Active CN107097225B (en) | 2016-02-23 | 2016-02-23 | Robot device and its motion control method |
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| Country | Link |
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| CN (1) | CN107097225B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020155178A1 (en) * | 2019-02-03 | 2020-08-06 | 西门子（中国）有限公司 | Robot teaching programming method and device, robot controller and computer-readable medium |
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| DE3046634C2 (en) * | 1980-12-11 | 1983-01-13 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Procedure for programming an industrial robot |
| EP0184075B1 (en) * | 1984-12-04 | 1988-09-07 | Siemens Aktiengesellschaft | Device and method for controlling an industrial robot |
| CN1755562A (en) * | 2004-09-29 | 2006-04-05 | 发那科株式会社 | Method for controlling trajectory of robot |
| CN101623867A (en) * | 2008-07-11 | 2010-01-13 | 中国科学院沈阳自动化研究所 | Device and method for making robot track given route at high accuracy |
| CN102744733A (en) * | 2011-04-21 | 2012-10-24 | 精工爱普生株式会社 | Collision detection system, robotic system, collision detection method and program |
| CN104070265A (en) * | 2013-03-28 | 2014-10-01 | 株式会社神户制钢所 | Welding seam information setting device, program, automatic teaching system and welding seam information setting method |
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2016
- 2016-02-23 CN CN201610098889.0A patent/CN107097225B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3046634C2 (en) * | 1980-12-11 | 1983-01-13 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Procedure for programming an industrial robot |
| EP0184075B1 (en) * | 1984-12-04 | 1988-09-07 | Siemens Aktiengesellschaft | Device and method for controlling an industrial robot |
| CN1755562A (en) * | 2004-09-29 | 2006-04-05 | 发那科株式会社 | Method for controlling trajectory of robot |
| CN101623867A (en) * | 2008-07-11 | 2010-01-13 | 中国科学院沈阳自动化研究所 | Device and method for making robot track given route at high accuracy |
| CN102744733A (en) * | 2011-04-21 | 2012-10-24 | 精工爱普生株式会社 | Collision detection system, robotic system, collision detection method and program |
| CN104070265A (en) * | 2013-03-28 | 2014-10-01 | 株式会社神户制钢所 | Welding seam information setting device, program, automatic teaching system and welding seam information setting method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020155178A1 (en) * | 2019-02-03 | 2020-08-06 | 西门子（中国）有限公司 | Robot teaching programming method and device, robot controller and computer-readable medium |
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| CN107097225B (en) | 2019-10-11 |
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