CN107097225B - Robot device and its motion control method - Google Patents
Robot device and its motion control method Download PDFInfo
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- CN107097225B CN107097225B CN201610098889.0A CN201610098889A CN107097225B CN 107097225 B CN107097225 B CN 107097225B CN 201610098889 A CN201610098889 A CN 201610098889A CN 107097225 B CN107097225 B CN 107097225B
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- rotary shaft
- interpolation
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- current location
- shaft
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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
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- Automation & Control Theory (AREA)
- Robotics (AREA)
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Abstract
A kind of robot device and its motion control method, the robot device includes: articulated robot arm, for the host of the rotary shaft and actuation of joint relative rotation of the mechanical arm rotary shaft, the host is the current location for first obtaining the rotary shaft and the target position of the rotary shaft to the control method for controlling the rotary shaft, it carries out point-to-point motion again and calculates the position of the rotary shaft, therefore when by point-to-point motion, the position of the rotary shaft is calculated simultaneously, when the motion profile of the mechanical arm may exceed working range, the host can correct the movement of the rotary shaft in real time, and effectively avoid the motion profile of the mechanical arm beyond 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 methods.
Background technique
In modern production line, since robot device's pickup has high-efficient, at low cost, object stay in grade etc. excellent
Point, therefore it has been widely used for replacing manpower production.
As shown in Figure 1,1 system of robot device in the prior art is six axis joint type mechanical arms, revolved by six
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 is that point-to-point (general term PTP) is moved and straight line is made up the difference
(general term LINE) movement.
The point-to-point motion carries out interpolation using six shaft angle degree of current location and target position
(Interpolation), and then mechanical arm is controlled, and the runing time of the point-to-point motion is shorter, but its motion track does not have
It is regular.Wherein, which indicates the present position of the distal point of mechanical arm, and the target position indicates mechanical arm
At the end of movement, the position of distal point, and the interpolation is also known as interpolation, indicates that digital control system determines movement according to pattern
The process of track.
The straight line, which makes up the difference to move, carries out interpolation, and the line using the Cartesian coordinate of current location and target position distance
Property the make up the difference motion track of movement be straight line, but its runing time is more long.
Above two mode can all enable device reach identical position, therefore generally the case where not requiring tracking condition
Under, user would generally select more timesaving point-to-point motion.
And when carrying out point-to-point motion, which has the shortcomings that it is difficult to predict motion profiles, thus causes
The motion profile S of the end mechanical arm 100 of the robot device 1 is easy to exceed preset working range R, shown in such as Fig. 1 ',
Cause to trigger alarm device, or even the situation that the robot device 1 collides other boards occurs.Wherein, the working range R is also
Claim software extreme limit of travel, indicate space or ornaments because of working environment, limit the working range of this mechanism, to ensure that work is pacified
Entirely.
Furthermore in order to ensure work safety, the method for also having part user to select movement of linearly making up the difference controls the respectively machine
Tool arm 10,100, but the robot device 1 thus can increase the working time.
Therefore, the variety of problems of the above-mentioned prior art how is solved, actually current industry project urgently to be resolved.
Summary of the invention
For the variety of problems for solving the above-mentioned prior art, the present invention discloses a kind of robot device and its motion control side then
Method, the robot device include: articulated robot arm；Multiple rotary shafts are pivoted to the mechanical arm, for the mechanical arm
Joint by relative rotation；And host, the rotary shaft is electrically connected to control the actuation of the rotary shaft.
The present invention also provides the motion control methods that a kind of host controls the rotary shaft, first obtain the current of the rotary shaft
The target position of position and 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 shaft, includes: calculating the interpolation position of the rotary shaft；Judge the interpolation position and the present bit of the rotary shaft
Set it is whether identical, if it is different, the interpolation position is then sent to motion control card to control mechanical arm movement, and by the interpolation
Position is as current location；And judge whether the updated current location and the target position identical, if they are the same when, then tie
The beam point-to-point motion.
In robot device above-mentioned, there are six the joints for articulated robot arm tool, with corresponding six rotary shafts.
In motion control method above-mentioned, which is shaft angle degree.
In motion control method above-mentioned, which is shaft angle degree.
In motion control method above-mentioned, which is angle interpolation.
In motion control method above-mentioned, the step of the interpolation position of the calculating rotary shaft, the interpolation position is first found out,
It is found out again with forward kinematics and judges whether to meet working range.
In motion control method above-mentioned, this judges the interpolation position of the rotary shaft and the whether identical step in the current location
In rapid, if judge that the interpolation position of the rotary shaft is identical as the current location, which can issue warning.
In motion control method above-mentioned, this judges the updated current location and the whether identical step in the target position
In rapid, if judge that the updated current location and the target position be not identical, the calculating rotary shaft is re-started
The process of position.
From the foregoing, it will be observed that robot device and its motion control method of the invention, mainly by point-to-point motion, together
When calculate the position of the rotary shaft, if the motion profile of the mechanical arm may exceed working range, which be repaired
The just movement of the rotary shaft exceeds working range to avoid the motion profile of the mechanical arm, therefore can not only overcome the robot
Device exceeds the problem of working range, and because can work of the correction motion track without will affect 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.
Detailed description of the invention
Fig. 1 is the side schematic view of the robot device of the prior art；
Fig. 1 ' is the motion profile of the end arm of the robot device of the prior art and the floor map of working range；
Fig. 2 is the flow chart of motion control method of the invention；And
Fig. 3 is that the motion profile of the robot device of the motion control method of application drawing 2 and the plane of working range are illustrated
Figure.
Appended drawing reference:
1 robot device
10,100 mechanical arm
11,12,13,14,15,16 rotary shaft
20 hosts
R working range
S, L motion profile
Specific embodiment
Illustrate embodiments of the present invention by particular specific embodiment below, those skilled in the art can be by this explanation
The revealed content of book is understood other advantages and efficacy of the present invention easily.
Fig. 2 is the flow chart of motion control method of the invention.In this present embodiment, which is applied to such as
Robot device 1 shown in FIG. 1, i.e. installation are with the host 20 for being loaded in controller, therefore following explanation is 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 host 20) in into
When row point-to-point motion, angle of the host 20 to calculate the rotary shaft 11,12,13,14,15,16 first obtains six rotations
The target position of the shaft angle degree of the current location of shaft 11,12,13,14,15,16 and six rotary shafts 11,12,13,14,15,16
The shaft angle degree set, then point-to-point motion is carried out, and calculate the position of six rotary shafts 11,12,13,14,15,16 in real time.Specifically
The step of ground, the position of six rotary shafts of the calculating 11,12,13,14,15,16, is as described below.
Firstly, carrying out the operation of step 200, planned according to the movement speed of mechanical arm 10,100, to calculate the respectively rotation
The interpolation position (such as angle interpolation) of axis 11,12,13,14,15,16, the angle of each rotary shaft as this time.For example, in
After the angle for finding out first rotary shaft 11, is found out with forward kinematics and judge whether to meet working range, wherein this is suitable
It is a kind of algorithm for the Cartesian coordinate position that angle with each axis extrapolates distal point to kinematics.
Therefore, if judge that the angle of first rotary shaft 11 does not meet working range, cancel first rotary shaft 11
This angle interpolation, and retain original angle, the second rotary shaft 12 is sequentially executed later 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 to execute
To the angle interpolation of the 6th rotary shaft 16, calculating process is identical as first rotary shaft 11.
After the angle interpolation of first to the 6th rotary shaft 11,12,13,14,15,16, 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 respectively 11,12,13,14,15,16 interpolation of rotary shaft
Meanwhile then carrying out the warning operation of step 202, i.e., when can not avoid by the amendment of the angle interpolation beyond working range
When situation, which can issue warning immediately.
If judging the shaft angle degree of shaft angle degree and the current location after respectively 11,12,13,14,15,16 interpolation of rotary shaft not
When identical, then it represents that the interpolation result of six rotary shafts 11,12,13,14,15,16 belongs to normally, therefore carries out the work of step 203
Shaft angle degree after interpolation is sent to motion control card by industry, and using the shaft angle degree after interpolation as the shaft angle degree of current location.Tool
Body, is sent to motion control card for the angle-data after interpolation, with when the robot device 1 running, after this interpolation
Respectively the mechanical arm 10,100 acts for angle-data control.
Finally, carrying out the operation of step 204 after the operation of step 203, judging the axis of the updated current location
Whether angle is identical as the shaft angle degree of the target position.If the axis of the shaft angle degree of the updated current location and the target position
When angle is not identical, 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 as the shaft angle degree of the target position, then it represents that the point-to-point motion has terminated.
Therefore, motion control method system of the invention by calculate six shaft angles spend when, together cooperate six rotary shafts 11,
12, the judgement of 13,14,15,16 working range, thus ought the movement of each rotary shaft 11,12,13,14,15,16 can exceed work
When making range, 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 movement of the respectively mechanical arm 10,100 again.Whereby, it is avoided that the movement of the mechanical arm 10,100 of the robot device 1
Track exceeds preset working range, therefore when the robot device 1 is in actuation, new interpolation position can enable originally beyond work
The movement of range becomes normally to execute.
Specifically, as shown in Fig. 3, when the motion profile of end mechanical arm 100 may exceed working range R
When, motion profile L, by along the edge of working range R, makes the end mechanical arm after motion control method amendment
100 motion profile L is located in working range R.
In conclusion motion control method of the invention is in point-to-point motion, while calculating each rotary shaft rotation at present
The Cartesian coordinate derived is repaired if there is the case where motion profile of any mechanical arm is beyond working range
Just, overcome the problems, such as that the motion profile of mechanical arm exceeds working range whereby, therefore can effectively solve robot device beyond work
The problem of making range, and because of energy real-time working time of the correction motion track without will affect robot device.
Furthermore motion control method of the invention only the robot device may exceed working range when, Cai Huijin
The amendment of row motion profile, therefore the robot device, when non-correction motion track, the working time not will increase.
Therefore, motion control method of the invention can be reduced the case where mechanical arm is beyond working range generation, and will not
Cause the working time to increase, therefore the shortening of work safety Yu working time can be taken into account.
Above-described embodiment is to be illustrated the principle of the present invention and its effect, and is not intended to limit the present invention.It is any
Those skilled in the art can modify to above-described embodiment without prejudice under spirit and scope of the invention.Therefore this hair
Bright rights protection scope is answered listed by claims as be described hereinafter.
Claims (8)
1. a kind of robot device, comprising:
Articulated robot arm；
Multiple rotary shafts, axis are connected to the articulated robot arm, for the articulated robot arm joint by relative rotation；
And
Host, to control the actuation of the rotary shaft, the process of the control is first to obtain current location and the rotation of the rotary shaft
The target position of 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, wherein plan according to the movement speed of the articulated robot arm, to calculate the respectively rotation
The interpolation position of shaft, the angle of each rotary shaft as this time, wherein if judging, the angle of first rotary shaft is not met
When working range, then cancel this angle interpolation of first rotary shaft, and retain original angle, sequentially executes remaining later
The angle interpolation of rotary shaft；If judge that the angle of first rotary shaft meets working range, remaining rotation is sequentially continued to execute
The angle interpolation of shaft, calculating process are identical as first rotary shaft；
Judge whether interpolation position and the current location of the rotary shaft are identical, if judging the interpolation position of the rotary shaft and deserving
Front position is different, then the interpolation position of the rotary shaft is replaced the current location, to update the current location；
The updated current location is sent to the host；And
Judge whether the updated current location and the target position are identical, if judging the updated current location and the mesh
Cursor position is identical, then terminates the point-to-point motion.
2. robot device as described in claim 1, wherein there are six the joints for articulated robot arm tool, with correspondence
Six rotary shafts.
3. a kind of motion control method of robot device, which includes articulated robot arm, for the joint type
The host of the rotary shaft and actuation of joint relative rotation of the mechanical arm rotary shaft, this method comprises:
Obtain the current location of the rotary shaft and the target position of the rotary shaft；And
It carries out point-to-point motion and calculates the position of the rotary shaft in real time, wherein the process system of the position of the calculating rotary shaft
Include:
Calculate the interpolation position of the rotary shaft, wherein plan according to the movement speed of the articulated robot arm, to calculate the respectively rotation
The interpolation position of shaft, the angle of each rotary shaft as this time, wherein if judging, the angle of first rotary shaft is not met
When working range, then cancel this angle interpolation of first rotary shaft, and retain original angle, sequentially executes remaining later
The angle interpolation of rotary shaft；If judge that the angle of first rotary shaft meets working range, remaining rotation is sequentially continued to execute
The angle interpolation of shaft, calculating process are identical as first rotary shaft；
Judge whether interpolation position and the current location of the rotary shaft are identical, if judging the interpolation position of the rotary shaft and deserving
Front position is different, then the interpolation position is sent to motion control card to control mechanical arm movement, and the interpolation position is made
For current location；And
Judge whether the updated current location and the target position are identical, if judging the updated current location 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 position 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 the step of the interpolation position of the calculating rotary shaft are as follows: first
The interpolation position is found out, then is found out with forward kinematics and judges whether to meet working range.
8. motion control method as claimed in claim 3, wherein the judgement updated current location and the target position
Whether in identical step, if judge that the updated current location and the target position be not identical, the meter is re-started
Calculate the process 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 |
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| CN107097225A CN107097225A (en) | 2017-08-29 |
| CN107097225B true CN107097225B (en) | 2019-10-11 |
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| CN201610098889.0A Active CN107097225B (en) | 2016-02-23 | 2016-02-23 | Robot device and its motion control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 | Equipment and method for enabling robot to track specified path with high precision |
| 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 |
-
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 | Equipment and method for enabling robot to track specified path with high precision |
| 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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| CN107097225A (en) | 2017-08-29 |
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