CN107443379A - A kind of mechanical arm motion control method based on emulation data - Google Patents
A kind of mechanical arm motion control method based on emulation data Download PDFInfo
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- CN107443379A CN107443379A CN201710719284.3A CN201710719284A CN107443379A CN 107443379 A CN107443379 A CN 107443379A CN 201710719284 A CN201710719284 A CN 201710719284A CN 107443379 A CN107443379 A CN 107443379A
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- mechanical arm
- motion control
- threedimensional model
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- code instruction
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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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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of mechanical arm motion control method based on emulation data.This method includes：The mechanical arm threedimensional model built in advance is imported in simulation software, determines the joint and end of mechanical arm threedimensional model, sets the movement locus of mechanical arm threedimensional model；Mechanical arm threedimensional model is emulated according to the movement locus, and G code instruction corresponding to synchronous generation each emulation moment, the G code instruction includes motion control position P8；Data distribution module G code instruction being sent in G code converter, G code instruction is parsed；The G code instruction being parsed is issued to the controller of entity mechanical arm, and driving entity mechanical arm performs corresponding sports.The present invention realizes the online purpose for carrying out motion control to mechanical arm in real time.
Description
Technical field
The present invention relates to intelligent robot control technology, more particularly to a kind of manipulator motion control based on emulation data
Method.
Background technology
In robotic programming control field, the specific dynamic of robot is realized by being directly programmed to robot controller
Make.This control mode of robot it is flexible it is poor, efficiency is low.It is difficult in adapt to digitlization, rapid development trend.Traditional industry
Robot control mainly realizes that this programming mode needs the control file to robot multiple by way of off-line programing
Conversion, transmit repeatedly, take a substantial amount of time, it will be apparent that reduce machine task efficiency.
The content of the invention
Present invention solves the technical problem that it is：Compared to prior art, there is provided a kind of mechanical arm based on emulation data
Motion control method, realize the online purpose for carrying out motion control to mechanical arm in real time.
The above-mentioned purpose of the present invention is achieved by the following technical programs：
The invention provides a kind of mechanical arm motion control method based on emulation data, including：
The mechanical arm threedimensional model built in advance is imported in simulation software, determines the joint of the mechanical arm threedimensional model
And end, set the movement locus of the mechanical arm threedimensional model；
Mechanical arm threedimensional model is emulated according to the movement locus, G generations corresponding to synchronous generation each emulation moment
Code instruction, the G code instruction include motion control position P8；
Data distribution module G code instruction being sent in G code converter, in the data distribution module
In, G code instruction is parsed；
The G code being parsed instruction is issued to the controller of entity mechanical arm by data distribution module, utilizes the control
Device processed, the entity mechanical arm is driven to perform corresponding sports.
Further, the simulation software is Vrep simulation softwares.
Further, the mechanical arm threedimensional model is 7 degree-of-freedom manipulator threedimensional models.
Further, as motion control position P8=1, the G code instruction is the angle in joint in mechanical arm threedimensional model
Spend information；As motion control position P8=0, the G code instruction is the end of mechanical arm threedimensional model in cartesian space
Position and attitude information.
The present invention has the advantages that compared with prior art：
Joint and end of the invention by determining the mechanical arm threedimensional model, make mechanical arm threedimensional model according to default
Movement locus is emulated, and each the G code with motion control position P8 corresponding to the emulation moment instructs for synchronous generation, by described in
The controller of entity mechanical arm is sent to after G code instruction parsing, to drive the entity mechanical arm to perform corresponding sports.This hair
It is bright to realize the online effect for carrying out motion control to mechanical arm in real time.
Brief description of the drawings
Fig. 1 is a kind of flow chart of mechanical arm motion control method based on emulation data in the embodiment of the present invention.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is it is understood that described herein
Specific embodiment be used only for explaining the present invention, rather than limitation of the invention.It also should be noted that for the ease of
Describe, part related to the present invention rather than entire infrastructure are illustrate only in accompanying drawing.
Fig. 1 is a kind of flow chart of mechanical arm motion control method based on emulation data in the embodiment of the present invention.Ginseng
Fig. 1 is examined, the mechanical arm motion control method based on emulation data that the present embodiment provides specifically may include steps of：
S110, the mechanical arm threedimensional model built in advance is imported in simulation software, determine the mechanical arm threedimensional model
Joint and end, set the movement locus of the mechanical arm threedimensional model.
Wherein, preferred Vrep simulation softwares of the simulation software.Optionally, the mechanical arm threedimensional model is 7 frees degree
Mechanical arm threedimensional model.
S120, mechanical arm threedimensional model are emulated according to the movement locus, and synchronous generation each emulation moment is corresponding
G code instruction, G code instruction includes motion control position P8.
Optionally, as motion control position P8=1, the G code instruction is the angle in joint in mechanical arm threedimensional model
Information；As motion control position P8=0, the G code instruction is the end of mechanical arm threedimensional model in the position of cartesian space
Put attitude information.
S130, the G code is instructed to the data distribution module being sent in G code converter, in the data distribution
In module, G code instruction is parsed.
The G code being parsed instruction is issued to the controller of entity mechanical arm by S140, data distribution module, utilizes institute
Controller is stated, drives the entity mechanical arm to perform corresponding sports.
Embodiment：
The mechanical structure model of 7 degrees of freedom copy man mechanical arms is designed by three-dimensional machinery design software.By designed institute
Mechanical structure model is stated to import in the Vrep simulation softwares of robot with physical engine.Joint and model end are carried out according to model
The position setting and the setting of movement angle scope at end.
According to actual motion demand, setting is joint space motion control or cartesian space control, by Vrep
It is programmed in simulation software, generates the oint motion trajectory of mechanical arm threedimensional model or the end of manipulator model in flute card
Position and attitude motion track, mechanical arm threedimensional model are emulated according to the movement locus in your space, and synchronous generation is every
G code instruction corresponding to the individual emulation moment, the G code instruction include motion control position P8.As motion control position P8=1,
The G code instruction is the angle information in joint in mechanical arm threedimensional model；As motion control position P8=0, the G code refers to
The end for mechanical arm threedimensional model is made in the position and attitude information of cartesian space.Issuing the form that G code instructs is：
G00X P1Y P2Z P3A P4B P5C P6U P7D P8
Wherein, G00 identifies for G code.When P8 is 1, X, Y, Z, A, B, C, U correspond to 7 degrees of freedom copy man mechanical arms respectively
1-7 joints, P1-P7 represent the angle of the corresponding motion in the 7 free joints of apery mechanical arm 1 to 7；When P8 is 0, X, Y, Z correspond to 7 respectively
The end of free apery mechanical arm cartesian space transverse axis, the longitudinal axis, vertical pivot, P1-P3 represent respectively 7 degrees of freedom copy man machinery
The end of arm is needed in the position of cartesian space movement, and A, B, C correspond to the end of 7 degrees of freedom copy man mechanical arms in flute card respectively
Your space around transverse axis, the longitudinal axis, number axis rotation attitude, the end of P4-P7 7 degrees of freedom copy man mechanical arms respectively is needed to three axles
The angle of rotation.
G code is instructed to the data distribution module being sent to by non-realtime traffic network in G code converter, described
In data distribution module, G code instruction is parsed.
The controller of mechanical arm is received the G code being parsed by ethercat Real Time Communication Networks and instructed, and passes through G
Code interpretative device simultaneously compiles it as the instruction code that mechanical arm controller can identify；Compound motion module will receive G code
The instruction that interpreter compiles out, and resolve module or 7 freely according to the positive kinematics of the free degree of instruction calls 7 series connection mechanical arm
Rectangular coordinate system motion module is spent, generates the movement instruction in each joint；Interpolation planning module generates according to compound motion module
The instruction of each joint, after then carrying out interpolation operation, be issued to 7 joints of 7 free apery mechanical arms.
The motion control that 7 free apery mechanical arms are issued by the controller of ehtercat network real-time reception machinery arms refers to
Make, then each joint performs movement instruction.
The technical scheme of the present embodiment makes mechanical arm, three-D by determining the joint and end of the mechanical arm threedimensional model
Model is emulated according to predetermined movement track, has motion control position P8 G generations corresponding to synchronous generation each emulation moment
Code instruction, the controller of entity mechanical arm will be sent to after G code instruction parsing, to drive the entity mechanical arm to perform
Corresponding sports.The present invention realizes the online effect for carrying out motion control to mechanical arm in real time.
Pay attention to, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although being carried out by above example to the present invention
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (4)
- A kind of 1. mechanical arm motion control method based on emulation data, it is characterised in that including：The mechanical arm threedimensional model built in advance is imported in simulation software, determines the joint and end of the mechanical arm threedimensional model End, set the movement locus of the mechanical arm threedimensional model；Mechanical arm threedimensional model is emulated according to the movement locus, and G code corresponding to synchronous generation each emulation moment refers to Order, the G code instruction include motion control position P8；Data distribution module G code instruction being sent in G code converter is right in the data distribution module The G code instruction is parsed；The G code being parsed instruction is issued to the controller of entity mechanical arm by data distribution module, using the controller, The entity mechanical arm is driven to perform corresponding sports.
- 2. the mechanical arm motion control method according to claim 1 based on emulation data, it is characterised in that the emulation Software is Vrep simulation softwares.
- 3. the mechanical arm motion control method according to claim 1 based on emulation data, it is characterised in that the machinery Arm, three-D model is 7 degree-of-freedom manipulator threedimensional models.
- 4. the mechanical arm motion control method according to claim 3 based on emulation data, it is characterised in that when motion is controlled During position P8=1 processed, the G code instruction is the angle information in joint in mechanical arm threedimensional model；As motion control position P8=0 When, the G code instruction is position and attitude information of the end in cartesian space of mechanical arm threedimensional model.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110076752A (en) * | 2019-04-01 | 2019-08-02 | 安徽师范大学 | Emulate six-DOF robot and entity six-DOF robot synchronous movement device |
| CN110161878A (en) * | 2019-05-15 | 2019-08-23 | 崧智智能科技(深圳)有限公司 | The adjustment method and system of automation equipment |
| CN112936292A (en) * | 2021-03-29 | 2021-06-11 | 昆明理工大学 | Open-source slicing path planning robot arc additive manufacturing method |
| CN113805528A (en) * | 2021-10-11 | 2021-12-17 | 深圳华数机器人有限公司 | Linkage control method of glass machine and manipulator based on numerical control double-channel system |
| CN114750023A (en) * | 2022-05-05 | 2022-07-15 | 新代科技(苏州)有限公司 | Method for deburring casting moving linearly at tail end of robot hand |
| WO2023086524A3 (en) * | 2021-11-12 | 2023-07-13 | Animax Designs, Inc. | Systems and methods for real-time control of a robot using a robot animation system |
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