CN107498557A - The control method and system of a kind of robot - Google Patents
The control method and system of a kind of robot Download PDFInfo
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- CN107498557A CN107498557A CN201710848177.0A CN201710848177A CN107498557A CN 107498557 A CN107498557 A CN 107498557A CN 201710848177 A CN201710848177 A CN 201710848177A CN 107498557 A CN107498557 A CN 107498557A
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- robot
- information
- controller
- current pose
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- 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
- B25J9/1666—Avoiding collision or forbidden zones
Abstract
The invention provides a kind of control method of robot and system, wherein method includes obtaining the current pose information of the first robot and the current pose information of the second robot；According to the current pose information of the first robot, the targeted attitude information of the second robot of generation；According to the targeted attitude information of the second robot, the posture of the second robot is controlled, and updates the current pose information of the second robot.System includes the first robot；Second robot；It is integrated with control processor, the first controller, the central controller of second controller.Signal sampling synchronization can be realized by the present invention and improve control efficiency and precision.
Description
Technical field
The present invention relates to robotic technology field, the control method and system of espespecially a kind of robot.
Background technology
It is the conventional programming Job Operations method of industrial robot that robot, which guides teaching and course replay, guiding teaching with
Course replay refers to the actuator or instrument by manually guiding robot arm end, completes robot a series of predetermined dynamic
Make, while record the movement instruction and miscellaneous function instruction, task program is formed, so that continuous repetitive process reproduces.Teaching
Technology to enhancing man-machine collaboration ability, develops beneficial to the direction of quick teaching programming.
Back yard industry robot to working site implements teaching, and the end that operator can hold industrial robot performs
Device realizes direct teaching.Then teaching, but which need to be carried out by teaching box by operator for large volume industrial robot
Operating process is complicated, teaching period length., need to be by programming and combining when large scale industry robot to production scene manipulates teaching
Teaching box is completed, and requires higher to technical staff.
To solve above-mentioned contradiction, someone is servo-actuated the solution of teaching robot's system using principal and subordinate, and manipulator passes through behaviour
Man-controlled mobile robot of doing exercises moves, and system controller gathers and recorded the rotation displacement signal that Manipulation of the machine people respectively moves, defeated after computing
Go out pulse signal to servo-driver, so as to drive industrial controlled machine people to realize the motion synchronous with Manipulation of the machine people.It is this
Method can effectively solve the problems, such as the guiding teaching of bulky robot, but because the system is by gathering and recording
The angular signal that Manipulation of the machine people respectively moves determines robot motion track, and error existing for each shafting of Manipulation of the machine people will be by
Bring into the action of industrial controlled machine people, generate teaching trueness error.
For the above situation, this application provides a kind of technical scheme for solving above technical problem.
The content of the invention
It is an object of the invention to provide a kind of control method of robot and system, by using each independent controller
Realize and improve signal sampling frequencies, it is achieved thereby that signal sampling synchronization and improving control efficiency and precision.
Technical scheme provided by the invention is as follows：
A kind of control method of robot, including：Step S100 obtains the current pose information and the of the first robot
The current pose information of two robots；Step S220 is according to the current pose information of first robot, generation described second
The targeted attitude information of robot；Step S310 controls second machine according to the targeted attitude information of second robot
The posture of device people, and update the current pose information of second robot.
In the present invention, each joint information of Manipulation of the machine people is not only have recorded, it is real to be also recorded for each joint of controlled machine people
When information so that error existing for each shafting of Manipulation of the machine people will not be brought into the action of controlled machine people, effectively eliminated
Teaching trueness error.
Preferably, also include after step S310：Current pose information and institute of the step S110 when second robot
State the second robot targeted attitude information it is inconsistent when, control second robot to carry out pose adjustment.
Preferably, control second robot in step S110 carries out the current controller mathematical modeling of pose adjustment
Including：
Wherein, Kp, Ki, Kd are PID controller parameter, and Axs is the current of second robot
Attitude angle information in attitude information, Ax be second robot targeted attitude information in attitude angle information, Cx
For the control signal of second robot；Qx is the actual output current drive signal of second robot；A is electric current control
Device output current full scale value processed；V is current controller input voltage full scale value.
In the present invention, the difference of each joint physical location of controlled machine people and target location is coordinated by closed-loop control
Not, so as to improving the accuracy rate synchronously followed.
Preferably, also include before step S220：Step S210 judges the default mode of operation of robot, when in first
During default mode of operation, step S220 is performed.
Preferably, step S210 also includes：When in the second default mode of operation, step S230 is performed.Step S230
According to the current pose information of second robot, the targeted attitude information of generation first robot；Step S240 roots
According to the targeted attitude information of first robot, the posture of first robot is controlled, and updates first robot
Current pose information.
In the present invention, the role exchange of Manipulation of the machine people and controlled machine people can be realized inverse under particular case
To manipulation, various real work situations are adapted to.
Preferably, also include after S310：Current pose information and institute of the step S400 according to first robot
The current pose information of the second robot is stated, generates the process record information of robot.
In the present invention, the action process and posture history of Manipulation of the machine people and controlled machine people are recorded, its
One reaches the purpose of guiding teaching and course replay, secondly accurate Actual path contrast can be carried out in real time, is programmed adjustment, from
And improve program file service efficiency.
Preferably, also include after step S310：Step S510 obtains second robot relative to peripheral obstacle
Range information；Step S520 performs when the range information is less than the first predetermined threshold value and is more than the second predetermined threshold value
First preset alarm pattern；Step S530 is less than or equal to the second predetermined threshold value and more than the 3rd default threshold when the range information
During value, the second preset alarm pattern is performed；Step S540 performs the when the range information is less than or equal to three predetermined threshold values
Three preset alarm patterns.
In the present invention, controlled machine people can safely and effectively perceive in surrounding space environment barrier to controlled machine people
Path limitation, and send anti-collision warning information, effectively evade collision so as to realize.
Preferably, also include after step S310：Step S600 obtains the work video information of second robot simultaneously
Shown.
In the present invention, operating personnel can directly be observed by camera device and manipulate the movement locus of controlled machine people
With targeted attitude, realize that scene manipulation is more careful more directly perceived.
Present invention also offers a kind of control system of robot, and it applies the control method of foregoing robot, described
System includes：First robot, including the first controller, the first driver；Second robot, including second controller, second
Driver；Central controller, including control processor；First controller is used for the current appearance for obtaining first robot
State information；The second controller is used for the current pose information for obtaining second robot；The control processor is used for
Receive the current pose information for first robot that first controller obtains, and working as according to first robot
Preceding attitude information generates the targeted attitude information of second robot；The second controller is further used for receiving the control
The targeted attitude information of second robot of processor generation processed；Second driver is used for according to the described second control
The targeted attitude information for second robot that device receives, control the posture of second robot；The second controller
It is further used for the posture of second robot according to the second driver control, updates the current appearance of second robot
State information.
In the present invention, each joint information of Manipulation of the machine people and each joint control information of controlled machine people pass through respectively
Each independent controller is completed, compared to the method that total data is handled by same controller, independent controller system
Signal sampling frequencies are improved, signal sampling synchronization is realized, improves control efficiency and precision.
Preferably, the second controller also includes：Attitude information judging unit is used to judge second robot
Whether current pose information is consistent with the targeted attitude information of second robot；Second driver is further used for working as
The attitude information judging unit judges the current pose information of second robot and the target appearance of second robot
When state information is inconsistent, according to the targeted attitude information of second robot, second robot is controlled to carry out posture tune
It is whole.
In the present invention, be programmed by using the real-time joint attitude information of controlled machine people itself, can ensure that by
Man-controlled mobile robot can necessarily be moved when late stage reproduces according to the movement locus in programming process with sequential, will not be produced
Life realizes the purpose for improving programming efficiency because such as itself overweight program that can not keep up with formulates speed and the situation in path.
Preferably, the control processor also includes：Mode of operation judging unit is used for the default work for judging robot
Pattern；The control processor is further used for when the mode of operation judging unit judges that robot is in the first default work
During pattern, the current pose information for first robot that first controller obtains is received, and according to first machine
The current pose information of device people generates the targeted attitude information of second robot；The second control word modules are further used
In the targeted attitude information for second robot for receiving the control processor generation；Second driver is further used
In the targeted attitude information of the second robot received according to the second controller, the posture of control second robot；
The second controller is further used for the posture of second robot according to the second driver control, renewal described second
The current pose information of robot.
Preferably, the control processor is further used for when the mode of operation judging unit judges that robot is in the
During two default mode of operations, the current pose information for second robot that the second controller obtains is received, and according to
The current pose information of second robot generates the targeted attitude information of first robot；First controller enters
One step is used for the targeted attitude information for receiving first robot of the control processor generation；First driver is used
In the targeted attitude information of first robot received according to first controller, the appearance of control first robot
State；First controller is further used for the posture of first robot according to the first driver control, described in renewal
The current pose information of first robot.
In the present invention, the role exchange of Manipulation of the machine people and controlled machine people can be realized inverse under particular case
To manipulation, various real work situations are adapted to.
Preferably, the central controller also includes：Data storage is used to receive the institute that first controller obtains
State the current pose letter of the current pose information of the first robot and second robot of second controller acquisition
Breath, and according to the current pose information of first robot and the current pose information of second robot, generate machine
The process record information of device people.
In the present invention, the action process and posture history of Manipulation of the machine people and controlled machine people are recorded, its
One reaches the purpose of guiding teaching and course replay, secondly accurate Actual path contrast can be carried out in real time, is programmed adjustment, from
And improve program file service efficiency.
Preferably, second robot also includes distance measuring sensor；The distance measuring sensor is used to detect described second
Robot relative to peripheral obstacle distance；The second controller is used for described the detected according to the distance measuring sensor
Two robots obtain range information of second robot relative to peripheral obstacle relative to the distance of peripheral obstacle；
The control processor also includes range information judging unit；The central controller also includes alarm；The range information
Second robot that judging unit is used to receive the second controller acquisition is relative to the range information of peripheral obstacle
Afterwards, judge whether the range information is less than the first predetermined threshold value and is more than the second predetermined threshold value；The alarm is used to work as
When the range information judging unit judges that the range information is less than the first predetermined threshold value and is more than the second predetermined threshold value, hold
Row the first preset alarm pattern；The range information judging unit is further used for judging whether the range information is less than or equal to
Second predetermined threshold value and it is more than the 3rd predetermined threshold value；The alarm is used for when described in range information judging unit judgement
When range information is less than or equal to the second predetermined threshold value and is more than three predetermined threshold values, the second preset alarm pattern is performed；It is described
Range information judging unit is further used for judging whether the range information is less than or equal to the 3rd predetermined threshold value；The alarm
For when the range information judging unit judges that the range information is less than or equal to three predetermined threshold values, it is default to perform the 3rd
Alarm mode.
In the present invention, controlled machine people can safely and effectively perceive in surrounding space environment barrier to controlled machine people
Path limitation, and send anti-collision warning information, effectively evade collision so as to realize.
Preferably, second robot also includes camera；The camera is used to shoot second robot
Work video；The central controller also includes display；The display is used to obtaining described the of camera shooting
The work video information of two robots, and shown.
In the present invention, operating personnel can directly be observed by camera device and manipulate the movement locus of controlled machine people
With targeted attitude, realize that scene manipulation is more careful more directly perceived.
By the control method and system of robot provided by the invention, following at least one beneficial effect can be brought：
1st, in the present invention, each joint information of Manipulation of the machine people is not only have recorded, is also recorded for each joint of controlled machine people
Real time information so that error existing for each shafting of Manipulation of the machine people will not be brought into the action of controlled machine people, effectively eliminated
Teaching trueness error.
2nd, in the present invention, each joint information of Manipulation of the machine people and each joint control information of controlled machine people are led to respectively
Cross each independent controller to complete, compared to the method for handling total data by same controller, independent controller system
System realizes signal sampling synchronization, improves control efficiency and precision.
3rd, in the present invention, by comparing the real-time joint attitude information of controlled machine people itself and targeted attitude information
Difference, it is programmed using closed-loop control, so as to improve the accuracy rate synchronously followed, and can ensure that controlled machine people in the later stage
It can be moved, will not be produced because for example itself is overweight with sequential according to the movement locus in programming process during course replay
Program can not be kept up with and formulate speed and the situation in path, realize the purpose for improving programming efficiency.
4th, in the present invention, the role exchange of Manipulation of the machine people and controlled machine people can be realized under particular case
Reverse manipulation, adapts to various real work situations.
5th, in the present invention, the action process and posture history of Manipulation of the machine people and controlled machine people are recorded,
One reaches the purpose of guiding teaching and course replay, secondly accurate Actual path contrast can be carried out in real time, is programmed adjustment,
So as to improve program file service efficiency.
6th, in the present invention, each joint of controlled machine people is provided with all kinds of environment sensing elements, so as to safely and effectively feel
Know that barrier is limited the path of controlled machine people in surrounding space environment, and send anti-collision warning information, so as to realize effectively
Evade collision.
7th, in the present invention, controlled machine people is provided with camera, and operating personnel can directly observe and manipulate controlled machine
The movement locus and targeted attitude of device people, realize that scene manipulation is more careful more directly perceived.
Brief description of the drawings
Below by a manner of clearly understandable, preferred embodiment is described with reference to the drawings, to a kind of controlling party of robot
Above-mentioned characteristic, technical characteristic, advantage and its implementation of method and system are further described.
Fig. 1 is the flow chart of one embodiment of the control method of the robot of the present invention；
Fig. 2 is the flow chart of another embodiment of the control method of the robot of the present invention；
Fig. 3 is the flow chart of another embodiment of the control method of the robot of the present invention；
Fig. 4 is the flow chart of another embodiment of the control method of the robot of the present invention；
Fig. 5 is the flow chart of another embodiment of the control method of the robot of the present invention；
Fig. 6 is the flow chart of another embodiment of the control method of the robot of the present invention；
Fig. 7 is the flow chart of another embodiment of the control method of the robot of the present invention；
Fig. 8 is the structural representation of one embodiment of the control system of the robot of the present invention；
Fig. 9 is the structural representation of another embodiment of the control system of the robot of the present invention；
Figure 10 is the structural representation of another embodiment of the control system of the robot of the present invention；
Figure 11 is the structural representation of another embodiment of the control system of the robot of the present invention；
Figure 12 is the structural representation of another embodiment of the control system of the robot of the present invention；
Figure 13 is the structural representation of another embodiment of the control system of the robot of the present invention.
Figure 14 is the structural representation of the first robot of the method and system of the robot of the present invention；
Figure 15 is the structural representation of the second robot of the method and system of the robot of the present invention；
Embodiment
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, control is illustrated below
The embodiment of the present invention.It should be evident that drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically show in each figure, they are not represented
Its practical structures as product.In addition, so that simplified form readily appreciates, there is identical structure or function in some figures
Part, one of those is only symbolically depicted, or only marked one of those.Herein, "one" is not only represented
" only this ", the situation of " more than one " can also be represented.
The invention provides a kind of one embodiment of the control method of robot, referring to Fig. 1, wrap in the present embodiment
Include：Step S100 obtains the current pose information of the first robot and the current pose information of the second robot；Step S220
According to the current pose information of first robot, the targeted attitude information of generation second robot；Step S310 roots
According to the targeted attitude information of second robot, the posture of second robot is controlled, and updates second robot
Current pose information.
Specifically, in the present embodiment, the first robot is analog manipulation robot, the second robot is the controlled machine of industry
Device people.The mode that the current pose information of the first robot can use user program to input in step S100, which can also use, to be used
The mode of the actuator guiding of family handheld machine people's mechanical arm tail end, makes robot complete appearance corresponding to predetermined action and acquisition
State information.After the current pose information of the first robot is got in step S220, by control algolithm (such as motor control calculate
Method), the targeted attitude information of the second robot is calculated；Step S310 allows the corresponding joint of the second robot according to target appearance
State information carries out following action, reproduces the behavior of Manipulation of the machine people.
In the present invention, robot includes the portions such as each mechanical arm, each joint, each joint sensors, each joint drive element
It is grouped into；The current pose information of robot includes each mechanical arm lengths, each joint angles, each joint angles displacement, each joint
The data such as position form.Critical component (such as mechanical arm) adjustable dimension of Manipulation of the machine people, to ensure controlled machine people
With the size similitude of Manipulation of the machine people.
In the present invention, Manipulation of the machine human action can be guided using user's hand-held, therefore when user leaves,
Manipulation of the machine people allows for self-locking joint, and otherwise because gravity, Manipulation of the machine people's mechanical arm are fallen, controlled machine people will
This unvested action can be followed, causes danger.
In the present invention, each joint information of Manipulation of the machine people is not only have recorded, is also recorded for controlled, each joint reality of robot
When information so that error existing for each shafting of Manipulation of the machine people will not be brought into the action of controlled machine people, effectively eliminated
Teaching trueness error.
On the basis of above example, the present invention also provides one embodiment, reference picture 2, and step S310 is also wrapped afterwards
Include：Step S110 is inconsistent when the current pose information and the targeted attitude information of second robot of second robot
When, control second robot to carry out pose adjustment.
Specifically, in the present embodiment, it sometimes appear that the situation of the second robot load excessive (such as has the resistance of obstacle group
Gear, or required acceleration are too high), it can so cause the presence of actual joint attitude information and target joint attitude information inclined
Difference, now need to use closed-loop control to correct mistake, be consistent by adjusting both in real time.
In the present embodiment, the closed-loop control system of control machine people adjustment posture uses current controller, passes through output
Electric current adjusts the attitude angle of robot.The variable being related to has：The current pose angle information of Axs-- robots, Ax--
The targeted attitude angle information of robot, Cx-- current controller control signals；Qx-- current controllers actual output current is driven
Dynamic signal；Kp, Ki, Kd--PID controller parameter；Calculate Cx pid algorithm：
Calculate
Qx：Wherein, A-- current controllers output current full scale value；V-- current controller input voltage full scales
Value；Such as the corresponding 0~2A output currents of 0~5V input voltages, then
In the present invention, the difference of each joint physical location of controlled machine people and target location is coordinated by closed-loop control
Not, so as to improving the accuracy rate synchronously followed.
On the basis of above example, the present invention also provides one embodiment, reference picture 3, and step S220 is also wrapped before
Include：Step S210 judges the default mode of operation of robot, when in the first default mode of operation, performs step S220.
Specifically, in the present embodiment, the first default mode of operation includes the artificial Manipulation of the machine people of the first machine, the second machine
The artificial controlled machine people of device, only when controlling the pattern of the second robot in the first robot, the second machine talent performs
Follow the action of the first robot.
On the basis of above example, the present invention also provides one embodiment, reference picture 4, and step S210 also includes：When
During in the second default mode of operation, step S230 is performed.Step S230 according to the current pose information of second robot,
Generate the targeted attitude information of first robot；Step S240 is according to the targeted attitude information of first robot, control
The posture of first robot is made, and updates the current pose information of first robot.
Specifically, in the present embodiment, the second default mode of operation includes the artificial Manipulation of the machine people of the second machine, the first machine
The artificial controlled machine people of device, the action for following the second robot is now performed by the first robot.According to second in step S230
The current pose information of robot, again by control algolithm (such as motor control algorithms), the first robot is calculated
Targeted attitude information；Step S240 allows the corresponding joint of the first robot to be carried out following action according to targeted attitude information.
In the present invention, when in start, because operator might not know the posture of controlled machine people, now
Need Manipulation of the machine people to obtain the current pose of controlled machine people, and adjust automatically so far posture, two robot appearances can be matched
State, start analog manipulation programming process.
On the basis of above example, the present invention also provides one embodiment, reference picture 5, and step S310 is also wrapped afterwards
Include：Step S400 according to the current pose information of first robot and the current pose information of second robot,
Generate the process record information of robot.
Specifically, in the present embodiment, have recorded the attitude information of Liang Ge robots in step S400 in real time, and generated
Cheng Jilu.Process record is written into file, available for continuous repetition process.
In the present invention, the action process and posture history of Manipulation of the machine people and controlled machine people are recorded, its
One reaches the purpose of guiding teaching and course replay, secondly accurate Actual path contrast can be carried out in real time, is programmed adjustment, from
And improve program file service efficiency.
On the basis of above example, the present invention also provides one embodiment, reference picture 6, and step S310 is also wrapped afterwards
Include：Step S510 obtains range information of second robot relative to peripheral obstacle；Step S520 believes when the distance
When breath is less than the first predetermined threshold value and is more than the second predetermined threshold value, the first preset alarm pattern is performed；Step S530 is when described
When range information is less than or equal to the second predetermined threshold value and is more than three predetermined threshold values, the second preset alarm pattern is performed；Step
S540 performs the 3rd preset alarm pattern when the range information is less than or equal to three predetermined threshold values.
Specifically, in the present embodiment, each joint of controlled machine people is provided with all kinds of environment sensing elements (such as ultrasonic wave
Distance measuring sensor), its quantity spatial depiction can determine with position according to residing for the barrier of industry spot periphery, for perceiving
Mechanical arm each several part track periphery barrier.Robot is measured relative to week first with these safety sensors in step S510
Enclose the distance of barrier；Step S520, the first predetermined threshold value in step S530, step S540, the second predetermined threshold value, the 3rd pre-
If threshold value is pre-set risk distance or danger zone, when between the first predetermined threshold value and the second predetermined threshold value
When, it is believed that it is low risk distance or low danger zone (such as yellow danger zone, non-emergent, the area of alerting
Domain), when between the second predetermined threshold value and the 3rd predetermined threshold value, it is believed that be middle risk distance or middle danger zone (example
Such as red danger zone, promptly, can not go successively to), when less than between the 3rd predetermined threshold value, it is believed that be high-risk distance or
Person's high-risk region (such as black danger zone, promptly, it is necessary to stop).When robot enters low risk distance in step S520
Or during low danger zone, performing the first preset alarm pattern, the first preset alarm pattern can be by sound, act or regard
Feel gives a warning, such as sends ring warning, and red warning lamp is bright, Manipulation of the machine people corresponding joint vibrations etc..In step S530
When risk distance in robot entrance or middle danger zone, joint self-locking corresponding to Manipulation of the machine people, user is prevented to hold
Continue to drive Manipulation of the machine people to advance to the direction of mistake, but do not prevent to put to traveling to safety.Work as machine in step S540
When people enters high-risk distance or high-risk region, such as touch, or triggering other mistakes of workspace, Manipulation of the machine people
Force to stop teaching process, self-locking whole joint is simultaneously shut down, prompts the user with and artificially diagnosed.To three of the above preset alarm
Pattern, user is had the right to release alarm, and continues teaching, but consequence is undertaken with responsibility by user.
In the present invention, the distance measuring sensor that each joint of controlled machine people is set, its quantity can be according to works with position
Spatial depiction residing for the barrier of industry scene periphery determines.Controlled machine people can safely and effectively perceive obstacle in surrounding space environment
Thing is limited the path of controlled machine people, and sends anti-collision warning information, effectively evades collision so as to realize.
On the basis of above example, the present invention also provides one embodiment, reference picture 7, and step S310 is also wrapped afterwards
Include：Step S600 obtains the work video information of second robot and shown.
Specifically, in the present embodiment, controlled machine people is provided with camera, there can be multiple cameras as needed,
3D cameras can also be used.The content shot with video-corder can be the work video of controlled machine people and by screen display.
In the present invention, operating personnel can directly be observed by camera device and manipulate the movement locus of controlled machine people
With targeted attitude, realize that scene manipulation is more careful more directly perceived.
On the basis of above example, the present invention also provides one embodiment, shown in reference picture 1-7, including：Step
S100 obtains the current pose information of the first robot and the current pose information of the second robot；Step S210 judges machine
The default mode of operation of people, when in the first default mode of operation, step S220 is performed, when in the second default mode of operation
When, perform step S230；Step S220 generates second robot according to the current pose information of first robot
Targeted attitude information；Step S230 is according to the current pose information of second robot, the mesh of generation first robot
Mark attitude information；Step S240 controls the posture of first robot according to the targeted attitude information of first robot,
And update the current pose information of first robot；Step S310 according to the targeted attitude information of second robot,
The posture of second robot is controlled, and updates the current pose information of second robot；Step S110 is when described the
When the current pose information of two robots and the inconsistent targeted attitude information of second robot, second machine is controlled
People carries out pose adjustment；Step S400 is according to the current pose information of first robot and working as second robot
Preceding attitude information, generate the process record information of robot；Step S510 obtains second robot relative to surrounding obstacles
The range information of thing；Step S520 is held when the range information is less than the first predetermined threshold value and is more than the second predetermined threshold value
Row the first preset alarm pattern；Step S530 is when the range information is less than or equal to the second predetermined threshold value and is preset more than the 3rd
During threshold value, the second preset alarm pattern is performed；Step S540 performs when the range information is less than or equal to three predetermined threshold values
3rd preset alarm pattern；Step S600 obtains the work video information of second robot and shown.
Specifically, in the present embodiment, typical case scene description is as follows：
When the 1st, starting shooting, Manipulation of the machine people reads the posture of controlled machine people first, and adjust automatically so far posture, realizes two
Robot pose matches, and then starts analog manipulation programming process；
2nd, analog manipulation programming starts, and the actuator guiding robot of user's handheld machine people's mechanical arm tail end completes to make a reservation for
Action, controlled machine people carry out following action, reproduce the behavior of Manipulation of the machine people；
3rd, during, by using closed-loop control real time correction controlled machine people physical location and target location deviation, make
Both are obtained to be consistent.
4th, during, the action process and posture history of Manipulation of the machine people and controlled machine people are recorded, and are used for
Continuous repetition；
5th, during, limitation of the barrier to path in controlled machine people's surrounding space environment is perceived by safety device,
And send collision information；
6th, during, observed by camera device and manipulate the movement locus and targeted attitude of controlled machine people.
Present invention also offers a kind of control system of the control method of robot, reference picture 8, wrap in the present embodiment
Include：First robot 1, including the first controller 11, the first driver 12；Second robot 2, including second controller 21,
Two drivers 22；Central controller 3, including control processor 31；First controller 11 is used to obtain first robot
Current pose information；Second controller 21 is used for the current pose information for obtaining second robot；Control processor 31 connects
The current pose information of the first robot of the first controller 11 acquisition is received, and is given birth to according to the current pose information of the first robot
Into the targeted attitude information of the second robot；Second controller 21 receives second machine that the control processor 31 generates
The targeted attitude information of people；The targeted attitude letter for the second robot that second driver 22 receives according to the second controller 21
Breath, control the posture of the second robot；The posture for the second robot that second controller 21 controls according to the second driver 22, more
The current pose information of new second robot.
In the present embodiment, the first robot 1 and the second robot 2 can be by mechanical arm, joint, joint sensors, passes
Save the specific part composition such as motor, encoder；First controller 11, second controller 21, control processor 31 can be with
By the Implement of Function Module for writing software；First driver 12, the second driver 22 can be that servo drive system etc. is various
Motor driven systems.
In the present invention, each joint information of Manipulation of the machine people and each joint control information of controlled machine people pass through respectively
Each independent controller is completed, compared to the method that total data is handled by same controller, independent controller system
Signal sampling frequencies are improved, signal sampling synchronization is realized, improves control efficiency and precision.
On the basis of above example, the present invention also provides one embodiment, reference picture 9, and second controller 21 also wraps
Include：Attitude information judging unit 211 is used for targeted attitude of the current pose information with the second robot for judging the second robot
Whether information is consistent；When attitude information judging unit 211 judges the current pose information and the second robot of the second robot
When targeted attitude information is inconsistent, the second driver 22 controls the second robot according to the targeted attitude information of the second robot
Carry out pose adjustment.
In the present invention, be programmed by using the real-time joint attitude information of controlled machine people itself, can ensure that by
Man-controlled mobile robot can necessarily be moved when late stage reproduces according to the movement locus in programming process with sequential, will not be produced
Life realizes the purpose for improving programming efficiency because such as itself overweight program that can not keep up with formulates speed and the situation in path.
On the basis of above example, the present invention also provides one embodiment, reference picture 10, and control processor 31 also wraps
Include：Mode of operation judging unit 311 is used for the default mode of operation for judging robot.When robot is in the first default Working mould
During formula, the second control word modules 21 receive the targeted attitude information for the second robot that control processor 31 generates；Second driving
The targeted attitude information for the second robot that device 22 receives according to second controller 21, control the posture of the second robot；Second
The posture for the second robot that controller 21 controls according to the second driver 22, update the current pose information of the second robot.
When robot is in the second default mode of operation, center control word modules 31 receive the second machine that second controller 21 obtains
The current pose information of people, and generate the targeted attitude information of the first robot；First controller 11 receives control processor 31
The targeted attitude information of first robot of generation；The first machine that first driver 12 receives according to the first sub- control module 11
The targeted attitude information of people, control the posture of the first robot；First controller 11 controlled according to the first driver 12 first
The posture of robot, update the current pose information of the first robot.
In the present invention, the role exchange of Manipulation of the machine people and controlled machine people can be realized inverse under particular case
To manipulation, various real work situations are adapted to.
On the basis of above example, the present invention also provides one embodiment, reference picture 11, and central controller 3 also wraps
Include：Data storage 32 is used for the current pose information for receiving the first robot that the first controller 11 obtains and the second control
The current pose information for the second robot that device 21 obtains, and generate the process record information of robot.Data storage can be with
It is that RAM etc. is various can be with the medium of data storage.
In the present invention, the action process and posture history of Manipulation of the machine people and controlled machine people are recorded, its
One reaches the purpose of guiding teaching and course replay, secondly accurate Actual path contrast can be carried out in real time, is programmed adjustment, from
And improve program file service efficiency.
On the basis of above example, the present invention also provides one embodiment, and reference picture 12, the second robot 2 also wraps
Include distance measuring sensor 23；Distance measuring sensor 23 is used to detect distance of second robot relative to peripheral obstacle；Second control
Distance of the device 21 according to the second robot that distance measuring sensor 23 detects relative to peripheral obstacle, obtain two robots relative to
The range information of peripheral obstacle；Control processor 31 also includes range information judging unit 312；Central controller also includes report
Alert device 33；Range information judging unit 312 receives the second robot of the acquisition of second controller 21 relative to peripheral obstacle
After range information, the relation between judging distance information and predetermined threshold value；When range information is less than the first predetermined threshold value and big
When the second predetermined threshold value, alarm 33 performs the first preset alarm pattern；When range information is less than or equal to the second predetermined threshold value
And when being more than three predetermined threshold values, alarm 33 performs the second preset alarm pattern；When range information is pre- less than or equal to the 3rd
If during threshold value, alarm 33 performs the 3rd preset alarm pattern.Alarm 33 can be audible-visual annunciator, warning lamp, loudspeaker etc..
In the present invention, controlled machine people can safely and effectively perceive in surrounding space environment barrier to controlled machine people
Path limitation, and send anti-collision warning information, effectively evade collision so as to realize.
On the basis of above example, the present invention also provides one embodiment, and reference picture 13, the second robot 2 also wraps
Include camera 24；Camera 24 shoots the work video of the second robot；Central controller also includes display 34 and is used to obtain
The work video information for the second robot that camera 24 is shot, and shown.Camera can be all kinds of video cameras, shooting
It is first-class；Display 34 can be the video display apparatus such as display screen, television set.
In the present invention, operating personnel can directly be observed by camera device and manipulate the movement locus of controlled machine people
With targeted attitude, realize that scene manipulation is more careful more directly perceived.
On the basis of above example, the present invention also provides one embodiment, reference picture 8-13, including：First machine
People 1, including the first controller 11, the first driver 12；；Second robot 2, including second controller 21, the second driver 22,
Distance measuring sensor 23, camera 24；Second controller 21 includes attitude information judging unit 211；Central controller 3, including control
Processor 31 processed, data storage 32, alarm 33, display 34；Control processor 31 includes mode of operation judging unit
311st, range information judging unit 312.
First controller 11 first obtains the current pose information of the first robot, and second controller 21 obtains the second machine
The current pose information of people.Then mode of operation judging unit 311 judges the default mode of operation of robot.When robot is in
During the first default mode of operation, control processor 31 receives the current pose letter for the first robot that the first controller 11 obtains
Breath, and generate the targeted attitude information of the second robot；Second controller 21 receives the second machine that control processor 31 generates
The targeted attitude information of people；The targeted attitude information for the second robot that second driver 22 receives according to second controller 21,
Control the posture of the second robot；The posture for the second robot that second controller 21 controls according to the second driver 22, renewal
The current pose information of second robot；Attitude information judging unit 211 judges the current pose information of the second robot and the
Whether the targeted attitude information of two robots is consistent, and when inconsistent, the second driver 22 controls the second robot to carry out posture
Adjustment.When robot is in the second default mode of operation, control processor 31 obtains the current pose information of the second robot,
And generate the targeted attitude information of the first robot；First controller 11 receives the first robot that control processor 31 generates
Targeted attitude information；The targeted attitude information for the first robot that first driver 12 receives according to the first controller 11, control
The posture of first robot；The posture for the second robot that first controller 11 controls according to the first driver 12, renewal first
The current pose information of robot.Data storage 32 receives the current pose letter for the first robot that the first controller 11 obtains
The current pose information for the second robot that breath and second controller 21 obtain, and generate the process record information of robot.
Distance measuring sensor 23 detects distance of second robot relative to peripheral obstacle；Second controller 21 is according to distance measuring sensor 23
Second robot of detection obtains two robots and believed relative to the distance of peripheral obstacle relative to the distance of peripheral obstacle
Breath；Range information judging unit 312 receives the second robot of the acquisition of second controller 21 relative to the distance of peripheral obstacle
After information, the relation between judging distance information and predetermined threshold value；When range information is less than the first predetermined threshold value and more than the
During two predetermined threshold values, alarm 33 performs the first preset alarm pattern；When range information be less than or equal to the second predetermined threshold value and
During more than three predetermined threshold values, alarm 33 performs the second preset alarm pattern；When range information is less than or equal to the 3rd default threshold
During value, alarm 33 performs the 3rd preset alarm pattern.Camera 24 shoots the work video of the second robot；Display 34 obtains
The work video information of the second robot of the shooting of camera 24 is taken, and is shown.
The present invention also provides a kind of specific embodiment of first robot, reference picture 4, and the first robot can be simulation behaviour
Man-controlled mobile robot, it is made up of the specific part such as each mechanical arm, each joint.Assuming that by taking 6 axle robots as an example, there are 6 joints, respectively
For waist joint M1, shoulder joint M2, shoulder joint M3, elbow joint M4, wrist joint M5, swivel of hand M6.
In the present embodiment, because the mechanical arm each several part joint length of the industrial robot of different designs has difference, this hair
It is bright to realize analog manipulation robot and each joint length ratio of industrial controlled machine people by adjusting the length of each arm
Similitude, such as：The relative position of arm axle and forearm axle sleeve can adjust h3 length before regulation；And adjust upper arm axle and upper arm
The relative position of axle sleeve can adjust h2 length.
The present invention also provides a kind of specific embodiment of second robot, reference picture 5, the second robot can be industry by
Man-controlled mobile robot, it is made up of the specific part such as each mechanical arm, each joint, actuator.Assuming that with 6 axle machines in corresponding above-mentioned fact Example
Exemplified by device people, there are 6 joints, respectively waist joint N1, shoulder joint N2, shoulder joint N3, elbow joint N4, wrist joint N5, hand close
Save N6.
In the present embodiment, the evagination such as mechanical arm, joint and actuator arranges ultrasonic sensor on position, particularly
Same joint part needs to arrange multiple sensors (such as L1, L2, L3), when manipulator motion is close to barrier, can and
When send alarm signal.
In the present embodiment, industrial controlled machine people actuator top is provided with camera, and by screen display, so as to holding
Row device moving displacement or action target judge.
The utility model that the control method and system of a kind of robot provided by the invention are submitted on the same day with another provides
The control system of robot a kind of belong to same technical scheme.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above method embodiment can pass through
Programmed instruction related hardware is completed, and foregoing program can be stored in a read/write memory medium, and the program is performing
When, execution the step of including above method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or CD etc. are each
Kind can be with the medium of store program codes.
It should be noted that above-described embodiment can independent assortment as needed.Described above is only the preferred of the present invention
Embodiment, it is noted that for those skilled in the art, do not departing from the premise of the principle of the invention
Under, some improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (15)
- A kind of 1. control method of robot, it is characterised in that including：Step S100 obtains the current pose information of the first robot and the current pose information of the second robot；Step S220 is according to the current pose information of first robot, the targeted attitude letter of generation second robot Breath；Step S310 controls the posture of second robot, and update according to the targeted attitude information of second robot The current pose information of second robot.
- 2. the control method of robot according to claim 1, it is characterised in that also include after step S310：Step S110 differs when the current pose information and the targeted attitude information of second robot of second robot During cause, second robot is controlled to carry out pose adjustment.
- 3. the control method of robot according to claim 2, it is characterised in that the control described second in step S110 The current controller mathematical modeling that robot carries out pose adjustment includes：<mrow> <mi>C</mi> <mi>x</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <mi>K</mi> <mi>p</mi> <mo>&times;</mo> <mrow> <mo>(</mo> <mi>A</mi> <mi>x</mi> <mi>s</mi> <mo>(</mo> <mi>t</mi> <mo>)</mo> <mo>-</mo> <mi>A</mi> <mi>x</mi> <mo>(</mo> <mi>t</mi> <mo>)</mo> <mo>)</mo> </mrow> <mo>+</mo> <mi>K</mi> <mi>i</mi> <mo>&times;</mo> <msubsup> <mo>&Integral;</mo> <mn>0</mn> <mi>t</mi> </msubsup> <mrow> <mo>(</mo> <mi>A</mi> <mi>x</mi> <mi>s</mi> <mo>(</mo> <mi>t</mi> <mo>)</mo> <mo>-</mo> <mi>A</mi> <mi>x</mi> <mo>(</mo> <mi>t</mi> <mo>)</mo> <mo>)</mo> </mrow> <mo>+</mo> <mi>K</mi> <mi>d</mi> <mo>&times;</mo> <mfrac> <mrow> <mi>d</mi> <mrow> <mo>(</mo> <mi>A</mi> <mi>x</mi> <mi>s</mi> <mo>(</mo> <mi>t</mi> <mo>)</mo> <mo>-</mo> <mi>A</mi> <mi>x</mi> <mo>(</mo> <mi>t</mi> <mo>)</mo> <mo>)</mo> </mrow> </mrow> <mrow> <mi>d</mi> <mi>t</mi> </mrow> </mfrac> <mo>;</mo> </mrow><mrow> <mi>Q</mi> <mi>x</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <mi>C</mi> <mi>x</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>&times;</mo> <mfrac> <mi>A</mi> <mi>V</mi> </mfrac> <mo>;</mo> </mrow>Wherein, Kp, Ki, Kd are PID controller parameter, and Axs is the attitude angle in the current pose information of second robot Information is spent, Ax is the attitude angle information in the targeted attitude information of second robot, and Cx is second robot Control signal；Qx is the actual output current drive signal of second robot；A is current controller output current full scale Value；V is current controller input voltage full scale value.
- 4. the control method of robot according to claim 1, it is characterised in that also include before step S220：Step S210 judges the default mode of operation of robot, when in the first default mode of operation, performs step S220.
- 5. the control method of robot according to claim 4, it is characterised in that step S210 also includes：When in the second default mode of operation, step S230 is performed.Step S230 is according to the current pose information of second robot, the targeted attitude letter of generation first robot Breath；Step S240 controls the posture of first robot, and update according to the targeted attitude information of first robot The current pose information of first robot.
- 6. according to the control method of any described robots of claim 1-5, it is characterised in that also wrapped after step S310 Include：Step S400 according to the current pose information of first robot and the current pose information of second robot, Generate the process record information of robot.
- 7. according to the control method of any described robots of claim 1-5, it is characterised in that also wrapped after step S310 Include：Step S510 obtains range information of second robot relative to peripheral obstacle；It is default to perform first when the range information is less than the first predetermined threshold value and is more than the second predetermined threshold value by step S520 Alarm mode；Step S530 performs second when the range information is less than or equal to the second predetermined threshold value and is more than three predetermined threshold values Preset alarm pattern；Step S540 performs the 3rd preset alarm pattern when the range information is less than or equal to three predetermined threshold values.
- 8. according to the control method of any described robots of claim 1-5, it is characterised in that also wrapped after step S310 Include：Step S600 obtains the work video information of second robot and shown.
- 9. a kind of control system of the robot of the control method of robot applied to described in claim any one of 1-8, its It is characterised by, including：First robot, including the first controller, the first driver；Second robot, including second controller, the second driver；Central controller, including control processor；First controller is used for the current pose information for obtaining first robot；The second controller is used for the current pose information for obtaining second robot；The control processor is used for the current pose information for receiving first robot that first controller obtains, and The targeted attitude information of second robot is generated according to the current pose information of first robot；The second controller is further used for receiving the targeted attitude of second robot of the control processor generation Information；Second driver is used for the targeted attitude information of second robot received according to the second controller, control Make the posture of second robot；The second controller is further used for the posture of second robot according to the second driver control, described in renewal The current pose information of second robot.
- 10. the control system of robot according to claim 9, it is characterised in that the second controller also includes：Attitude information judging unit is used for mesh of the current pose information with second robot for judging second robot Whether consistent mark attitude information；Second driver is further used for when the attitude information judging unit judges the current appearance of second robot When state information and the inconsistent targeted attitude information of second robot, believed according to the targeted attitude of second robot Breath, second robot is controlled to carry out pose adjustment.
- 11. the control system of robot according to claim 9, it is characterised in that the control processor also includes：Mode of operation judging unit is used for the default mode of operation for judging robot；The control processor is further used for when the mode of operation judging unit judges that robot is in the first default work During pattern, the current pose information for first robot that first controller obtains is received, and according to first machine The current pose information of device people generates the targeted attitude information of second robot；The second control word modules are further used for receiving the target of second robot of the control processor generation Attitude information；Second driver is further used for the targeted attitude information of the second robot received according to the second controller, Control the posture of second robot；The second controller is further used for the posture of second robot according to the second driver control, described in renewal The current pose information of second robot.
- 12. the control system of robot according to claim 11, it is characterised in that also include：The control processor is further used for when the mode of operation judging unit judges that robot is in the second default work During pattern, the current pose information for second robot that the second controller obtains is received, and according to second machine The current pose information of device people generates the targeted attitude information of first robot；First controller is further used for receiving the targeted attitude of first robot of the control processor generation Information；First driver is used for the targeted attitude information of first robot received according to first controller, control Make the posture of first robot；First controller is further used for the posture of first robot according to the first driver control, described in renewal The current pose information of first robot.
- 13. according to the control system of any described robots of claim 9-12, it is characterised in that the central controller is also Including：Data storage is used for current pose information and the institute for receiving first robot that first controller obtains The current pose information of second robot of second controller acquisition is stated, and according to the current pose of first robot The current pose information of information and second robot, generate the process record information of robot.
- 14. according to the control system of any described robots of claim 9-12, it is characterised in that including：Second robot also includes distance measuring sensor；The distance measuring sensor is used to detect distance of second robot relative to peripheral obstacle；Second robot that the second controller is used to be detected according to the distance measuring sensor is relative to peripheral obstacle Distance, obtain the range information of second robot relative to peripheral obstacle；The control processor also includes range information judging unit；The central controller also includes alarm；Second robot that the range information judging unit is used to receive the second controller acquisition is relative to surrounding After the range information of barrier, judge whether the range information is less than the first predetermined threshold value and is more than the second predetermined threshold value；The alarm be used for when the range information judging unit judges the range information less than the first predetermined threshold value and During more than the second predetermined threshold value, the first preset alarm pattern is performed；The range information judging unit is further used for judging whether the range information is less than or equal to the second predetermined threshold value simultaneously And it is more than the 3rd predetermined threshold value；The alarm is used for when the range information judging unit judges that the range information is less than or equal to the second predetermined threshold value And when being more than three predetermined threshold values, perform the second preset alarm pattern；The range information judging unit is further used for judging whether the range information is less than or equal to the 3rd predetermined threshold value；The alarm is used for when the range information judging unit judges that the range information is less than or equal to the 3rd predetermined threshold value When, perform the 3rd preset alarm pattern.
- 15. according to the control system of any described robots of claim 9-12, it is characterised in that including：Second robot also includes camera；The camera is used for the work video for shooting second robot；The central controller also includes display；The display is used for the work video information for obtaining second robot of the camera shooting, and is shown Show.
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| CN112621747A (en) * | 2020-12-02 | 2021-04-09 | 南京理工大学北方研究院 | Robot posture adjustment control system |
| CN112744308A (en) * | 2021-01-18 | 2021-05-04 | 北京博清科技有限公司 | Overturn-preventing wall-climbing robot and control method |
| CN114227699A (en) * | 2022-02-10 | 2022-03-25 | 乐聚(深圳)机器人技术有限公司 | Robot motion adjustment method, robot motion adjustment device, and storage medium |
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