CN107486858A - More mechanical arms collaboration off-line programing method based on RoboDK - Google Patents

More mechanical arms collaboration off-line programing method based on RoboDK Download PDF

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Publication number
CN107486858A
CN107486858A CN201710668969.XA CN201710668969A CN107486858A CN 107486858 A CN107486858 A CN 107486858A CN 201710668969 A CN201710668969 A CN 201710668969A CN 107486858 A CN107486858 A CN 107486858A
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China
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mechanical arm
robodk
mechanical
arm
program
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CN201710668969.XA
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Chinese (zh)
Inventor
禹鑫燚
朱峰
欧林林
张集汇
朱熠琛
卢靓
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浙江工业大学
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Priority to CN201710668969.XA priority Critical patent/CN107486858A/en
Publication of CN107486858A publication Critical patent/CN107486858A/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

Abstract

A kind of more mechanical arms collaboration off-line programing method based on RoboDK, more mechanical arm Combined process working environments are built in RoboDK visualization interfaces, handled according to practical work piece it needs to be determined that cooperative motion type and distributing slave task, complete Mechanical transmission test analysis and to specified cooperative motion type projects motion path, collaborative work program is write with reference to RoboDK api interfaces function and the motion path planned, operation program simultaneously detects collision and Path error situation output corresponding data, operational effect is optimal so as to the motion path of revised planning according to the data processing collision of output and Path error, finally write post processor program, generate more mechanical arms and cooperate with actual executable code.The present invention has significantly expanded RoboDK function, provides new technical scheme for the development in mechanical arm off-line programing field, shortens the R&D cycle of more mechanical arm Combined process, greatly improve production and processing efficiency.

Description

More mechanical arms collaboration off-line programing method based on RoboDK

Technical field

The present invention relates to mechanical arm off-line programming technique field, more particularly to a kind of more mechanical arms collaboration based on RoboDK Off-line programing method.

Background technology

Along with the fast development of the modernization of industry, robot technology is as the embodiment horizontal and intelligent journey of industrial automation The important mark post of degree, has obtained the concern of people increasingly.Wherein, robot arm off-line programing emulation technology combination computer Graphics, linguistics and robot technology, solve the deficiency of traditional teaching programming well, the product of production has been effectively ensured Quality, raise labour productivity and improve working environment.

The method programmed relative to traditional teaching, off-line programing have the advantage that:(1) accounting for for tangible machine people is reduced , can be with concurrent processing multiple tasks operation, so as to improve productivity ratio, it is easy to accomplish flexible production with the time;(2) combine and calculate Machine graphics techniques and robot programming language, the motion for complexity is described and programmed, and carries out high-precision emulation, The optimization of Comlex-locus and kinematic parameter can be realized;(3) the trajectory planning scheduling algorithm of robot is verified, and To be exposed early the problem of being likely to occur in running by emulation, can prevent in operation process tangible machine people because For damage caused by operational error;(4) programmed relative to teaching, robot control program need not can change or on a small quantity The robot of change can from a model be transplanted in another robot, so as to carry out identical job task, Still further aspect uses the programmed method of text, modification or the editor for also easily entering line program;(5) off-line simulation programming can To be easily combined with intelligent control algorithm, the quality and stability of robot manipulating task is improved;(6) it is raw by programming simulation Production person can according to reality operating environment and the robot of production requirement test different types and its effect of operation, so as to for The type selecting of robot provides effective foundation.Therefore, off-line programming technique is programmed with greatly excellent relative to traditional teaching Gesture, the increasingly study hotspot as robot research field.

At present, some researchs, many documents and patent are had been carried out to industrial robot off-line programming and simulation both at home and abroad There is related introduction.Gold, which is supported oneself, proposes off-line programing and Virtual Simulation (the golden self-support industry of a kind of industrial robot Off-line programing and Virtual Simulation [J] the robot technology of robot and application, 2015, (06):44-46.[2017-08- 02]) it introduces the chief component of industrial robot off-line programing and Virtual Simulation and technological difficulties and right The future thrust of the technology proposes some guesses;But simply it is summarized and sub-module illustrates, in the technology Off-line programming and simulation platform building, specific method for planning track, post processor preparation package are all not directed to, and are not also referred to more Mechanical arm cooperates with off-line programming technique;Zheng Song, Lv Dongdong et al. propose a kind of cooperative control method (Zheng of more industrial robots Pine, Lv Dongdong, once its Lam, He Weidong, peeped, Li Beibei, Chen Zhicheng, a kind of Collaborative Control sides of more industrial robots of Sun Yun Method [P] Fujian:CN106502095A, 2017-03-15), it specifically solves the association between more industrial machines in actual environment Same control method, but studied primarily directed to the communication technology between each mechanical arm and Collaborative Control technology, it is not directed to more Mechanical arm cooperates with off-line programing scheme, is also not carried out the in-circuit emulation of configuration processor.

In summary, more mechanical arm collaboration off-line programing methods can fill up the blank in mechanical arm off-line programing field.For The complicated mechanical arm Combined process scheme of exploitation provides research platform and technical support, engineer is appointed in exploitation complicated processing There are more selection of technical scheme during business, while greatly shorten the R&D cycle, increase substantially processing efficiency.

The content of the invention

The present invention will overcome the drawbacks described above of prior art, there is provided a kind of more mechanical arms collaboration programming based on RoboDK Method.

The concrete methods of realizing that the present invention is directed to off-line programing in more mechanical arm Collaborative Controls provides different cooperative motion classes The detailed technology scheme that the path planning of type and realization accordingly emulate, and complete needed for generation actual robot operation code Post processor program is write.All Collaborative Control scheme missing in the prior art be present in the more mechanical arm off-line programings of solution, The problems such as operational effect is bad, and engineering transformation efficiency is obvious.

The present invention is the workflow for solving above-mentioned technical problem use as shown in figure 1, concretely comprising the following steps:

Step 1:Model is imported, establishes coordinate system, completes platform building;

Mechanical arm is imported in RoboDK visualization interfaces, end effector, the 3D models of workpieces processing, configures mechanical arm DH parameters establish complete mechanical arm simulation model, basis coordinates system established to each model and build father/subcoordinate system tree, it is complete Built into more mechanical arm collaborative simulation work stations;

Step 2:Cooperative motion type is determined, it is specified that master/slave machine quantity, distributes master/slave machine task;

Analysis task demand is needed according to the working process of reality first, according to the relative of single robot arm end effector The more mechanical arm cooperative motions of moving handle are divided into three types, and concurrent collaborative, coupling is synchronous synergetic and combines synchronous synergetic;Evade machine Complicated cooperative motion cartesian trajectories, the cooperation from cartesian space between mechanical arm are started with tool shoulder joint space;And The position or orientation limitation between mechanical arm is not present in row collaboration type;Couple it is synchronous synergetic in, all mechanical arms are in synchronous point t0As the forced synchronism time started, all mechanical arms perform identical line or circular motion simultaneously, and are performed in principal and subordinate end Relative motion is not present between device, is mainly used in load balancing task;In combination is synchronous synergetic, all mechanical arms are in synchronous fortune Dynamic period Δ t operation identical times, main mechanical arm perform basic linear motion or circular motion, and from mechanical arm relative to The end effector of main mechanical arm performs different moving mass, and a superimposed motion is produced on the basic exercise of main mechanical arm; Defined according to above cooperative motion, (can be had according to task with reference to mission requirements distribution main mechanical arm (one) and from mechanical arm It is multiple) action.

Step 3:Mechanical transmission test analysis is completed, according to cooperative motion type projects operating path;

According to the intrinsic parameter of mechanical arm, each Mechanical transmission test analysis is completed, according to just solving equation for robot kinematics Mechanical arm tail end coordinate system is obtained to the transformation relation of basis coordinates system;It is synchronous synergetic for coupling, two mechanical arms of consideration (main/ Slave), it is each that there is n joint, large volume rigid body object of the processing more than any single mechanical arm payload capability;In order to Mobile object, two robot arm end effectors capture object in two particular points;The such motion of identification is the synchronous fortune of coupling Dynamic, relative position/direction between principal and subordinate's end effector is constant;mbPm(t)∈R4×4For in time t, main mechanical arm exists Pose under main mechanical arm basis coordinates system,sbPs(t)∈R4×4For in time t, from mechanical arm under mechanical arm basis coordinates system Pose, can obtain

mbPs(t)=mbHsb·sbPs(t)

WhereinmbHsb∈R4×4It is the transfer matrix from mechanical arm basis coordinates system to main mechanical arm basis coordinates system, is constant Homogeneous transform matrix matrix.t0FormbPm(t) andsbPs(t) the synchronous time started,mHs(t)∈R4×4For in time t0From machinery The transfer matrix of main end effector under arm end effector to main mechanical arm basis coordinates system, can be obtained

mbPm(0)=mHs·mbPs(0)

As time t=0

mbPm(0)=mHs·mbHsb·sbPs(0)

Obtained by above formula

mHs=mbPm(0)·(sbPs(0))-1·sbHmb

mHsEntirely couple it is synchronous synergetic in be constant, can obtain

mbPm(t)=mHs·mbPs(t)

=mHs·mbHsb·sbPs(t)

=mbPm(0)·(sbPs(0))-1·sbHmb·mbHsb·sbPs(t)

=mbPm(0)·(sbPs(0))-1·sbPs(t)

Obtained by above formula

sbPs(t)=sbPs(0)·(mbPm(0))-1·mbPm(t)

Obtained by this equation, main mechanical arm movement locus can be passed throughmbPm(t) (the discrete point composition of pose) and coupling are same Walk the pose of cooperative motion time startedmbPm(0) movement locus of slave is uniquely determinedsbPs(t) (the discrete point group of pose Into);

It is synchronous synergetic for combining, preset the movement locus of main mechanical arm, and from mechanical arm movement locus according to adding Depending on work requirement, the cooperative motion between principal and subordinate's mechanical arm is constrained to varying constraint;mbPm(t) it is main mechanical arm in main mechanical arm Movement locus under basis coordinates system,mePs(t) it is also main mechanical arm for the processing request under main robot arm end effector coordinate system Slave movement locus under end effector coordinate system;By Robotic inverse kinematics knowledge, trackmbPm(t) it is transformed into main pass Save space to come, slave trackmePs(t) slave end effector coordinate system is transferred to from main frame end effector coordinate system, passed through Homogeneous transformation obtains

sbPs(t)=sbHmb·mbHme(t)·mePs(t)

sbHmbIt is the transfer matrix that slave basis coordinates system is transferred to from main frame basis coordinates system,mbHme(t) it is to be performed from main end Transition matrix of the device coordinate system to main robot basis coordinates system;meHmb(t) transposition ismbHme(t), according to robot positive kinematics Definition, the position/orientation of end effector of robot obtains under its basis coordinates system

mbHme(t)=(meHmb(t))-1=(mbPm(t))-1

Obtained by two above formula,

sbPs(t)=sbHmb·(mbPm(t))-1·mePs(t)

Obtain combining the holonomic constriants of main frame and slave pose in cooperative motion, so as to complete the complete road of main frame and slave Plan in footpath.

Step 4:As shown in Fig. 2 cooperate with path using the Path Planning planning of step 3 and combine RoboDK-API Function writes Collaborative Control program, opens up control thread for the operation program of each mechanical arm, realizes synchronous synergetic control;

RoboDK-API interface functions are called first, obtain the basis coordinates of each mechanical arm and workpiece and the appearance of end effector State information;Mechanical arm relative motion is completed to solve;Set the coordinate points M that all kinds of cotaskings start to perform;According to processing need Main robot machining path is write, and the collaboration Path Planning for combining step 3 writes the operation code from robot;It is complete Each machine under into the interlocking function of communication data between each mechanical arm during more mechanical arm simulated programs operation multithreading and same time shaft Tool arm synchronously waits writing for function;Separate threads are opened up for each mechanical arm operation program;After the completion of writing cotasking Quit a program;Stop signal is set.

Step 5:As shown in figure 3, operation mechanical arm Collaborative Control program, according to Simulation Interface detection collision and each robot Operating path deviation situation;

When running simulated program, the impact zone occurred during mechanical arm synthetic operation is shown by RoboDK visualization interfaces Domain, export the positional information of collision area;Each mechanical arm simulation run path is shown, exports whole piece fortune during each mechanical arm operation Row curve.

Step 6:Complete according to the path planning of step 5 running situation set-up procedure 3 and in step 4 corresponding code and repair Change, finally realize preferable operational effect;

According to the collision area positional information and the positional information of operating path exported in step 5, determine between mechanical arm Impact severity;Again this section of path is planned in the region more serious to impact severity;To collide lesser extent region by Discrete point weighting scheme on this section of path slightly changes operating path.

Step 7:Write as shown in Figure 4 and run post processor script, the simulated program of more mechanical arm Collaborative Controls It is converted into the actual executable code of mechanical arm and exports;

Post processor program is write, completes the communication program of RoboDK and actual robot;Call actual robot fortune Line command storehouse and RoboDK-API function libraries, according to pair between actual machine arm control command and the control command of simulated program It should be related to, with reference to the proportionate relationship between emulated robot in actual robot and RoboDK, both control commands are arranged Into complete corresponding relation;According to the post processor program write the simulated program output obtained after completion step 6 in fact Border mechanical arm executable program, directly emulation experiment achievement can be put into the operation of actual machine arm by this function.

The present invention has the advantages that compared with prior art:

1st, the present invention is compared to traditional mechanical arm off-line programming software, and using RoboDK off-line programing platforms, it extends 3D visualization interfaces can import each producer's manipulator model and configure corresponding parameter.The platform intuitively user interface, just In building virtual work environment, each coordinate system of mechanical arm and workpiece coordinate system can be set according to being actually needed, and can be directly flat Robot motion track and target are set on platform, off-line programing is carried out in advance for a variety of commercial Applications.

2nd, needs are processed according to actual production, relevant classification has been carried out to more mechanical arm Collaborative Controls.Mainly collaboration is controlled More difficult coupling is synchronous synergetic in system controls and combines the corresponding path planning of synchronous synergetic control completion, and real on RoboDK Simulated program is showed.Functions of the RoboDK in terms of more mechanical arm Collaborative Control off-line programings is expanded, it greatly reduces more The R&D cycle of mechanical arm Combined process, finally increase substantially production and processing efficiency.

3rd, the inventive method can realize mechanical arm online programming, collision detection and path optimization, can be non-stop-machine Robot motion's algorithm and parameter are changed under state, and the quality of track and efficiency are examined by being previously run simulated program, Constantly improve operating path, improve adaptability and versatility that mechanical arm changes to process.

Brief description of the drawings

Fig. 1 is the operation chart of the inventive method.

Fig. 2 is more mechanical arm Collaborative Control code implementation process figures.

Fig. 3 is more mechanical arm collaborative work state simulation schematic diagrames, and wherein Fig. 3 a represent the synthetic operation stage, and Fig. 3 b are represented Synthetic operation ending phase.

Fig. 4 is post processor program implementation process figure.

Embodiment

The present invention is further described below in conjunction with accompanying drawing.

The present invention considers manufacturing industry for more mechanical arm collaboration off-line programing method imperfections and afunction problem at present The lifting of 2025 pairs of industrial robot working abilities there is an urgent need to based on RoboDK platforms, with reference to the API letters of its secondary development Number, it is proposed that a kind of more perfect mechanical arm collaboration off-line programing method, improve the off-line programing exploitation for Collaborative Control Efficiency, significantly elevating mechanism arm production and processing field strength.The present invention imports in RoboDK visualization interfaces first Mechanical arm, end effector, the 3D models of workpieces processing, the DH parameters for configuring mechanical arm establish complete mechanical arm simulation model, Cooperating simulation platform is completed to build;Cooperative motion type is determined, it is specified that master/slave machine quantity and task;To the machinery of importing Arm model carries out kinematics analysis and solution, according to cooperative motion type projects operating path;According to the cooperative motion road of planning Footpath, Collaborative Control program is write with reference to RoboDK-API functions, open up control thread for the operation program of each mechanical arm, realize same Walk Collaborative Control;The Collaborative Control program write is run, according to Simulation Interface detection collision and each robot operating path deviation Situation;Previous step is repeated to improve path operation code, realizes preferably operational effect;Finally run write it is rearmounted Processor program, the simulated program of more mechanical arm Collaborative Controls is converted into the actual executable code of mechanical arm and exported.

As shown in figure 1, more mechanical arms collaboration off-line programing method based on RoboDK is for welding Combined process task Concrete operation step is as follows:

Step 1:Model is imported, establishes coordinate system, completes platform building;

The KUKA-KR-6-R900 and Fanuc-LR-Mate- that welding needs are imported in RoboDK visualization interfaces 200iD/7L-Base manipulator models, welded plate and welding rifle end effector are accommodated, it is 100x100x5cm's to import specification Welding steel 3D models.Established according to this two mechanical arm DH parameter given on KUKA and Fanuc official websites complete with actual machine arm Mechanical arm simulation model corresponding to whole, respective basis coordinates system is set and in RoboDK visualization interfaces to each model of importing Build the coordinate system tree using entitled 2 robots Cooperation V1 world coordinate systems as tree root in left side.Mechanical arm base Mark system is arranged to the subcoordinate system under world coordinate system, and the coordinate system of end effector is arranged under mechanical arm basis coordinates system Subcoordinate system.By that analogy, complete job station coordinates system tree is established, more mechanical arm collaborative simulation work stations is finally completed and builds.

Step 2:Cooperative motion type is determined, it is specified that master/slave machine quantity, distributes master/slave machine task;

Analyze that this subtask to be completed first is, it is necessary to which two mechanical arms collaborations are made to the welding processing task of steel plate Industry, a mechanical arm clamp steel plate, and a mechanical arm is subjected to steel plate.It is multiple in joint of mechanical arm space by evading Miscellaneous cooperative motion cartesian trajectories, the cooperation from cartesian space between mechanical arm are started with, and determine such to be processed as combining Synchronous synergetic task does basic curvilinear motion, possesses weldering, it is specified that the KUKA-KR-6-R900 mechanical arms of clamping workpiece are main frame The Fanuc-LR-Mate-200iD/7L-Base mechanical arms of rifle are slave, carry out welding processing motion to steel plate, are being synchronized with the movement Period Δ t, master/slave machine start to perform cooperative motion task according to combination cooperative motion characteristic, and the solder joint moment can be allowed to keep most Good state and the weld task for smoothly completing moving target.According to actual welding task scene, with reference to the work of two mechanical arms Space size, master/slave mechanical arm is moved to using steel plate position as work centre the optimum position of respective work pieces process, so as to carry The feasibility and efficiency of height processing.

Step 3:Mechanical transmission test analysis is completed, according to cooperative motion type projects operating path;

According to the intrinsic parameter of KUKA-KR-6-R900 and Fanuc-LR-Mate-200iD/7L-Base mechanical arms, this is completed The kinematics analysis of two mechanical arms, according to robot kinematics just solve equation can obtain industrial robot (using six axles as Example) transformation relation be

WhereinTransformation matrix of the joint n ends relative to joint n-1 ends is represented, n represents joint number, θnRepresent Joint rotation angle,It is ring flange relative to the 6th transformation of axis matrix,It is change of the end effector relative to ring flange Change matrix,It is transformation matrix of the mechanical arm origin relative to robotic arm pedestal, mechanical arm tail end can be obtained by the equation Corresponding relation of the actuator coordinate system to basis coordinates system.By step 2 it was determined that the welding cotasking is the synchronous association of combination Together, preset main frame and do circular motion around collaboration starting point, slave movement locus needs to do according to weld task on steel plate Radius is 40cm circular motion, and the cooperative motion between master/slave machine is constrained to varying constraint.Herein, we setmbPm (t)∈R4×4For in time t, pose of the main mechanical arm under main mechanical arm basis coordinates system,sbPs(t)∈R4×4For in time t When, from mechanical arm from the pose under mechanical arm basis coordinates system,sbHmbIt is to be transferred to slave basis coordinates from the basis coordinates system of main frame The transfer matrix of system,mePs(t) held for the processing request under main robot arm end effector coordinate system, and main mechanical arm end Slave movement locus under row device coordinate system.By equation

sbPs(t)=sbHmb·(mbPm(t))-1·mePs(t)

Obtain combining the holonomic constriants of main frame and slave pose in cooperative motion, so as to complete the complete road of main frame and slave Plan in footpath.

Step 4:As shown in Fig. 2 cooperate with path using the Path Planning planning of step 3 and combine RoboDK-API Function writes Collaborative Control program, opens up control thread for the operation program of each mechanical arm, realizes synchronous synergetic control;

RoboDK-API interface functions are called first, obtain KUKA-KR-6-R900 and Fanuc-LR-Mate-200iD/ The attitude information of the basis coordinates and end effector spray gun of 7L-Base mechanical arms and steel plate;Complete the mechanical arm being related in step 2 Relative motion solves;Set the coordinate points M that all kinds of cotaskings start to perform;Need to write main frame according to steel plate weld task Device people's motion path, and combine combination corresponding to weld task and cooperate with Path Planning to write the weld job fortune from robot Line code;Main robot communicates between robot when completing the simulated program operation multithreading of weld task mechanical arm processing Master/slave mechanical arm synchronously waits writing for function under the interlocking function of data and same time shaft;Based on/from mechanical arm run journey Sequence opens up separate threads;Write weld task and complete quitting a program for latter two mechanical arm;Stop signal and position are set, allow master Mechanical arm returns to mechanical arm operation origin, and mechanical arm process safety station is returned to from mechanical arm.

Step 5:As shown in figure 3, operation mechanical arm Collaborative Control program, according to Simulation Interface detection collision and each robot Operating path deviation situation;

When running weld task simulated program, master/slave mechanical arm synthetic operation is shown by RoboDK visualization interfaces When the collision area that occurs, export the positional information of collision area;Master/slave mechanical arm simulation run path is shown, is passed through RoboDK-API function interfaces export the entire run curve of master/slave mechanical arm.

Step 6:Complete according to the path planning of step 5 running situation set-up procedure 3 and in step 4 corresponding code and repair Change, finally realize preferable operational effect;

According to the collision area positional information and the positional information of operating path exported in step 5, master/slave mechanical arm is determined Between impact severity;Again this section of path is planned in the region more serious to impact severity;The region for colliding lesser extent is led to The discrete point weighting scheme crossed on this section of path slightly changes operating path.Rerun simulated program, according to simulated effect phase Path should be changed and perform code, stop this step when simulated effect is high-quality.

Step 7:Write as shown in Figure 4 and run post processor script, the simulated program of more mechanical arm Collaborative Controls It is converted into the actual executable code of mechanical arm and exports;

According to the databook of KUKA-KR-6-R900 and Fanuc-LR-Mate-200iD/7L-Base mechanical arms and RoboDK-API function libraries write post processor program, complete the communication program of RoboDK and actual robot;Call actual Robot runs the function library that control machinery arm is run in command library and RoboDK-API, according to actual machine arm control command with Corresponding relation between simulated program control command, with reference to the ratio between emulated robot in actual robot and RoboDK Relation, both are integrated with complete corresponding relation;According to the post processor program write, after completion step 6 The weld task simulated program output arrived is actual machine arm executable code, and directly weld task can be imitated by this function True experiment achievement is put into the weld task operation of actual machine arm.

It is emphasized that embodiment of the present invention is illustrative, rather than it is limited, therefore the present invention includes The embodiment described in embodiment is not limited to, it is every to be obtained by those skilled in the art's technique according to the invention scheme The similar other embodiment gone out, also belongs to protection scope of the present invention.

Claims (4)

1. a kind of more mechanical arms collaboration off-line programing method based on RoboDK, is comprised the following steps that:
Step 1:Model is imported, establishes coordinate system, completes platform building;
Import mechanical arm in RoboDK visualization interfaces, end effector, the 3D models of workpieces processing, configure the DH of mechanical arm Parameter establishes complete mechanical arm simulation model, basis coordinates system is established to each model and builds father/subcoordinate system tree, completes more Mechanical arm collaborative simulation work station is built;
Step 2:Cooperative motion type is determined, it is specified that master/slave machine quantity, distributes master/slave machine task;
Analysis task demand is needed according to the working process of reality first, according to the relative motion of single robot arm end effector More mechanical arm cooperative motions are divided into three types, concurrent collaborative, coupling is synchronous synergetic and combines synchronous synergetic;Assisted more than With motion definition, main mechanical arm and relevant work task from mechanical arm are distributed with reference to mission requirements;
Step 3:Mechanical transmission test analysis is completed, according to cooperative motion type projects operating path;
According to the intrinsic parameter of mechanical arm, each Mechanical transmission test analysis is completed, is obtained according to just solving equation for robot kinematics Mechanical arm tail end coordinate system moves to the transformation relation of basis coordinates system to coupling the synchronous synergetic and synchronous synergetic type projects of combination Track;
Step 4:Path is cooperateed with using the Path Planning planning of step 3 and writes Collaborative Control with reference to RoboDK-API functions Program, control thread is opened up for the operation program of each mechanical arm, realizes synchronous synergetic control;
RoboDK-API interface functions are called first, obtain the basis coordinates of each mechanical arm and workpiece and the posture letter of end effector Breath;Mechanical arm relative motion is completed to solve;Set the coordinate points M that all kinds of cotaskings start to perform;Need to compile according to processing And the collaboration Path Planning for combining step 3 writes the operation code of master/slave mechanical arm;Complete more mechanical arm simulated program fortune Each mechanical arm synchronously waits the volume of function under the interlocking function of communication data and same time shaft between each mechanical arm during row multithreading Write;Separate threads are opened up for each mechanical arm operation program;Quitting a program after the completion of cotasking is write, sets and stops letter Number;
Step 5:Mechanical arm Collaborative Control program is run, according to Simulation Interface detection collision and each robot operating path deviation feelings Condition;
When running simulated program, the collision area occurred during mechanical arm synthetic operation is shown by RoboDK visualization interfaces, Export the positional information of collision area;Each mechanical arm simulation run path is shown, exports entire run during each mechanical arm operation Curved section;
Step 6:Corresponding code revision is completed according to the path planning of step 5 running situation set-up procedure 3 and in step 4, Finally realize preferable operational effect;
According to the collision area positional information and the positional information of operating path exported in step 5, touching between mechanical arm is determined Hit degree;Again this section of path is planned in the region more serious to impact severity;Region to colliding lesser extent, by the section The mode of discrete point weighting on path changes operating path;
Step 7:Write and run post processor script, the simulated program of more mechanical arm Collaborative Controls is converted into mechanical arm reality Border executable code simultaneously exports;
Post processor program is write, completes the communication program of RoboDK and actual robot;Call actual robot operation life Storehouse and RoboDK-API function libraries are made, according to the corresponding pass between actual machine arm control command and the control command of simulated program System, with reference to the proportionate relationship between emulated robot in actual robot and RoboDK, has been organized into both control commands Whole corresponding relation;It is actual machine that the simulated program obtained after completion step 6, which is exported, according to the post processor program write Tool arm executable program, directly emulation experiment achievement can be put into the operation of actual machine arm by this function.
2. more mechanical arms collaboration off-line programing method according to claim 1 based on RoboDK, it is characterised in that described The establishment step of coordinate system tree is as follows in step 1:First to the mechanical arm in RoboDK visualization interfaces to be imported into, end is held Row device, workpieces processing carries out coordinate subordinate relation analysis, establishes basis coordinates system of the world coordinate system as the engineering, alive It is that each mechanical arm establishes basis coordinates system under the subdirectory of boundary's coordinate system, end effector coordinate is established under mechanical arm subdirectory System, workpiece to be processed coordinate system is finally established under end effector subdirectory, processing platform is finally completed and builds.
3. more mechanical arms collaboration off-line programing method according to claim 1 based on RoboDK, it is characterised in that described It is as follows to the specific method of cooperative motion Type division in step 2:Transported by evading collaboration complicated in joint of mechanical arm space Dynamic cartesian trajectories, the cooperation from cartesian space between mechanical arm are started with;Concurrent collaborative type is not present between mechanical arm Position or orientation limitation;Couple it is synchronous synergetic in, all mechanical arms are in synchronous point t0As the forced synchronism time started, own Mechanical arm performs identical line or circular motion simultaneously, and relative motion is not present between principal and subordinate's end effector, main to use In load balancing task;In combination is synchronous synergetic, all mechanical arms are in the cycle △ t operation identical times that are synchronized with the movement, master Mechanical arm performs basic linear motion or circular motion, and is performed not from mechanical arm relative to the end effector of main mechanical arm Same moving mass, a superimposed motion is produced on the basic exercise of main mechanical arm.
4. more mechanical arms collaboration off-line programing method according to claim 1 based on RoboDK, it is characterised in that described It is as follows to the specific method of cooperative motion path planning in step 3:It is synchronous synergetic for coupling, consider that two mechanical arms are (master/slave Machine), it is each that there is n joint, large volume rigid body object of the processing more than any single mechanical arm payload capability;In order to move Animal body, two robot arm end effectors capture object in two particular points;The such motion of identification is synchronized with the movement for coupling, Relative position/direction between principal and subordinate's end effector is constant;mbPm(t)∈R4×4For in time t, main mechanical arm is in main frame Pose under tool arm basis coordinates system,sbPs(t)∈R4×4For in time t, from mechanical arm from the position under mechanical arm basis coordinates system Appearance,mbPm(0) it is pose of the main mechanical arm under main mechanical arm basis coordinates system in time t=0;sbPs(0) it is in time t=0 When, from mechanical arm from the pose under mechanical arm basis coordinates system;By equation
sbPs(t)=sbPs(0)·(mbPm(0))-1·mbPm(t)
Main mechanical arm movement locus can be passed throughmbPm(t) when (the discrete point composition of pose) and the synchronous synergetic motion of coupling start Between posembPm(0) movement locus of slave is uniquely determinedsbPs(t) (the discrete point composition of pose);
It is synchronous synergetic for combining, the movement locus of main mechanical arm is preset, and will according to processing from mechanical arm movement locus Depending on asking, the cooperative motion between principal and subordinate's mechanical arm is constrained to varying constraint;sbHmbBe from the basis coordinates system of main frame be transferred to from The transfer matrix of machine basis coordinates system,mePs(t) it is the processing request under main robot arm end effector coordinate system, and main mechanical Slave movement locus under arm end effector coordinate system;By equation
sbPs(t)=sbHmb·(mbPm(t))-1.mePs(t)
Obtain combining the holonomic constriants of main frame and slave pose in cooperative motion, so as to complete the fullpath of main frame and slave rule Draw.
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