CN107621830B - Control method of stage mechanical arm - Google Patents
Control method of stage mechanical arm Download PDFInfo
- Publication number
- CN107621830B CN107621830B CN201711080759.5A CN201711080759A CN107621830B CN 107621830 B CN107621830 B CN 107621830B CN 201711080759 A CN201711080759 A CN 201711080759A CN 107621830 B CN107621830 B CN 107621830B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- stage
- rotation angle
- instruction
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The invention discloses a control method of a stage mechanical arm, which is used for controlling the motion trail of the stage mechanical arm and comprises the following steps: inputting the motion coordinates of the motion end of the stage mechanical arm into external off-line programming software, converting the motion coordinates into a motion track, and then decomposing the motion track into the rotation angle of each mechanical arm joint in each time interval and transmitting the rotation angle to instruction conversion software; the instruction conversion software converts the rotation angle into an instruction which can be identified by the light console and inputs the instruction into the light console; the light console transmits the instruction to the driver, and the driver drives the motor to operate according to the received instruction to drive the mechanical arm joint to move so as to drive the stage mechanical arm to move according to the pre-input motion trail. The invention can realize that the light console controls the motion of the stage mechanical arm, and solves the problems that the traditional stage mechanical arm is controlled by a special remote controller, and the stage light is controlled by the light console to be combined with the stage mechanical arm, so that the cost and the difficulty of stage performance are increased.
Description
Technical Field
The invention relates to the field of stage equipment, in particular to a control method of a stage mechanical arm.
Background
Stage arm among the prior art generally all is through the remote controller control with stage arm assorted, and when the stage performance, the scene personnel of stage combine stage lighting and screen according to the stage performance needs, demonstrate the stage effect of various differences. However, the remote controller matched with the stage mechanical arm can only control the motion track of the stage mechanical arm, and the control of the stage lamp also needs to be controlled by a light console conforming to the DMX512 protocol; the scene personnel need use remote controller and light control cabinet simultaneously, the motion trail of control stage arm and the effect of stage lighting to reach the required stage effect of stage performance.
According to the stage mechanical arm control method, a plurality of professional field personnel are needed to control the stage mechanical arm and the stage lighting respectively, so that the labor cost of stage performance and the control difficulty of the combination of the stage mechanical arm and the stage lighting are increased; therefore, it is necessary to research a new control method for the stage robot arm, so as to reduce the labor cost for stage performance and the control difficulty for combining the stage robot arm with the stage lighting.
Disclosure of Invention
The invention aims to provide a control method of a stage mechanical arm, which is used for solving the problems that the traditional stage mechanical arm is controlled by a special remote controller, and stage light is required to be controlled by a light console to be combined with the stage mechanical arm, so that the cost and difficulty of stage performance are increased.
The invention discloses a control method of a stage mechanical arm, which is used for controlling the motion trail of the stage mechanical arm and provides the following scheme:
s1: inputting the motion coordinate of the motion end of the stage mechanical arm into external off-line programming software, converting the motion coordinate into a motion track by the external off-line programming software, decomposing the motion track into the rotation angle of each mechanical arm joint in each time interval, and transmitting the rotation angle to instruction conversion software;
s2: converting the rotation angle of the mechanical arm joint into a stage mechanical arm motion track instruction which can be identified by a light control console by using instruction conversion software, and inputting the instruction into the light control console;
s3: the light console transmits the received instruction to the driver, and the driver drives the motor of the stage mechanical arm to move according to the received instruction, so that the motor drives the mechanical arm joint to move according to the instruction received by the driver to drive the moving end of the stage mechanical arm to move according to the pre-input action coordinate to move a specific motion track.
Preferably, the step S2 further includes a method for converting the angle of the robot arm joint into a light console command, including the steps of:
a1: the instruction conversion software receives the rotation angle of the mechanical arm joint, and the rotation speed and the rotation angle of each motor in each time interval are calculated by using a speed formula and a position formula;
a2: and the instruction conversion software converts the rotating speed and the rotating angle into an instruction of the motion trail of the stage mechanical arm which can be identified by the light control console, and inputs the instruction into the light control console.
Preferably, the driver is configured to recognize an absolute value of a rotation angle of the motor; the recognition range of the driver is from the minimum rotation angle of the motor to the maximum rotation angle of the motor. After the driver receives the absolute value of the rotation angle of the motor, the motor is controlled to operate and rotate by a corresponding angle, and the angle is within the range of the rotatable angle of the motor, so that the problem that the motor cannot complete the rotation angle required by the command is avoided.
Preferably, the velocity formula is:
in the velocity formula:
a is a conversion parameter of each digit of a light console push rod;
alpha is the rotation angle of the mechanical arm joint;
delta alpha is the relative rotation angle of the mechanical arm joint obtained by subtracting the rotation angle of the current mechanical arm joint from the rotation angle of the mechanical arm joint in the next period of time;
i is the mechanical arm reduction ratio;
ωmaxis the maximum angular velocity of the motor;
Tintis the time of each time interval;
v is the percentage of the rotational speed of the motor and the percentage of the rotational speed is an instruction that can be recognized and received by the light console.
Preferably, the position formula is:
α×i×An＝β
in the position formula:
alpha is the rotation angle of the mechanical arm joint;
i is the mechanical arm reduction ratio;
Anthe conversion parameter of the push rod of the light console is calculated by multiplying A by the number (n) of the push rod;
beta is the absolute rotation angle of the motor, and the absolute rotation angle is an instruction that can be received by the light console.
Preferably, the command transmitted by the light console is a command conforming to DMX512 or Artnet protocol.
Preferably, the driver can receive instructions conforming to the DMX512 or Artnet protocol, and the driver matches the model of the stage robotic arm.
According to the control method of the stage mechanical arm, the action coordinates are input into external off-line programming software, the off-line programming software converts the action coordinates into the motion track, then the motion track is decomposed into the angle of each mechanical arm joint in each time interval, and the angle is transmitted to instruction conversion software; the command conversion software calculates a speed command and a position command which can be received by the light console by using a position formula and a speed formula; the light console transmits an instruction which accords with a DMX512 or Artnet protocol to a driver; the driver can receive an instruction which accords with a DMX512 or Artnet protocol, so that the driver can control the motor to operate according to the instruction sent by the light console, the motor drives the mechanical arm to move in a joint mode to drive the motion track which is input in advance by the motion end of the stage mechanical arm to operate according to the received instruction, and therefore the motion track of the stage mechanical arm and the effect of stage light can be controlled simultaneously only by a light engineer using the light console in stage performance, the labor cost of the stage performance is reduced, and the difficulty in combining the stage light with the motion track of the stage mechanical arm is reduced.
Drawings
Fig. 1 is a schematic flow chart of a stage manipulator control method according to the present invention;
FIG. 2 is a schematic flow chart of a robot control method according to the present invention;
FIG. 3 is a schematic flow chart illustrating the operation of converting coordinates into commands according to the present invention;
fig. 4 is a schematic view of the absolute rotation angle recognition range of the driver according to the present invention.
Detailed Description
The control method of the stage mechanical arm is described with reference to the accompanying drawings.
As shown in fig. 1 to 2, the control method of the stage robot arm is used for controlling the motion track of the stage robot arm, and includes the following steps:
the stage mechanical arm comprises a driver 4, a mechanical arm moving end 6 and a plurality of mechanical arm joints 7, wherein a motor 5 is arranged on each mechanical arm joint, the driver 4 is used for driving the motor 5 to run, the motor 5 runs to drive the mechanical arm joints 7 to move so as to drive the mechanical arm moving end 6 to move according to a certain track, and the mechanical arm moving end 6 is used for bearing a stage unit; the control method at least comprises the following steps:
s1: inputting the motion coordinate of the motion end 6 of the stage mechanical arm to external off-line programming software 1, converting the motion coordinate into a motion track by the external off-line programming software 1, then decomposing the motion track into the rotation angle of each mechanical arm joint 7 in each time interval, and transmitting the rotation angle to instruction conversion software 2;
s2: converting the rotation angle of the mechanical arm joint 7 into a stage mechanical arm motion track instruction which can be recognized by the light console 3 by using instruction conversion software 2, and inputting the instruction into the light console 3;
s3: the light console 3 transmits the received instruction to the driver 4, and the driver 4 drives the motor 5 of the stage mechanical arm to move according to the received instruction, so that the motor 5 drives the mechanical arm joint 7 to move according to the instruction received by the driver 4 to drive the stage mechanical arm moving end 6 to move according to the pre-input motion coordinate to move a specific motion track.
As shown in fig. 3, the step S2 further includes a method for converting the motor angle into a light console command, including the following steps:
a1: the instruction conversion software 2 receives the rotation angle of the mechanical arm joint 7, and calculates the rotation speed and the rotation angle of each motor 5 in each time interval by using a speed formula and a position formula;
a2: the instruction conversion software 2 converts the rotation speed and the rotation angle into an instruction of a motion track of the stage mechanical arm which can be recognized by the light console 3, and inputs the instruction into the light console 3.
As shown in fig. 4, the driver 4 is set to recognize the absolute value of the rotation angle of the motor 5; the recognition range of the drive 4 is the minimum rotation angle α of the electric motor 5minMaximum angle of rotation alpha to the motor 5max. The driver 4 receives the motorAfter the absolute value of the rotation angle of 5, the motor 5 is controlled to operate and rotate by a corresponding angle, and the angle is within the range of the rotatable angle of the motor 5, so that the problem that the motor 5 cannot complete the rotation angle required by the instruction is avoided.
Preferably, the speed formula is:
in the velocity formula:
a is a conversion parameter of each digit of a push rod of the light console 3;
alpha is the rotation angle of the mechanical arm joint 7;
delta alpha is the relative rotation angle of the mechanical arm joint 7 obtained by subtracting the rotation angle of the current mechanical arm joint 7 from the rotation angle of the mechanical arm joint 7 in the next period of time;
i is the mechanical arm reduction ratio;
ωmaxis the maximum angular velocity of the motor 5;
Tintis the time of each time interval;
v is the percentage of the rotational speed of the motor 5 and this percentage of the rotational speed is an instruction that can be recognised and received by the light console 3.
Preferably, the position formula is:
α×i×An＝β
in the position formula:
alpha is the rotation angle of the mechanical arm joint 7;
i is the mechanical arm reduction ratio;
Anthe conversion parameter of the push rod of the light console 3 is calculated by multiplying A by the number (n) of the push rod;
β is the absolute rotation angle of the motor 5, and this is a command that can be received by the light console 3.
Preferably, the command transmitted by the light console 3 is a command conforming to DMX512 or Artnet protocol.
Preferably, the drive 4 can receive instructions conforming to the DMX512 or Artnet protocol, and the drive 4 matches the model of the stage robot arm.
According to the control method of the stage mechanical arm, the action coordinates are input into external off-line programming software 1, the off-line programming software 1 converts the action coordinates into the motion track, then the motion track is divided into the rotation angle of each mechanical arm link 7, and the rotation angle is transmitted to instruction conversion software 2; the instruction conversion software 2 calculates a speed instruction and a position instruction which can be received by the light console 3 by using a position formula and a speed formula, and inputs the instructions to the light console 3; the light console 3 transmits an instruction conforming to the DMX512 or Artnet protocol to the driver 4; the driver 4 drives the motor 5 to operate, so that the motor 5 drives the mechanical arm joint 7 to move to drive the stage mechanical arm moving end 6 to move a motion track input in advance according to a received instruction, the motion track of the stage mechanical arm and the effect of stage light can be controlled simultaneously only by a light operator using a light console in stage performance, the labor cost of the stage performance is reduced, and the difficulty in combining the stage light and the motion track of the stage mechanical arm is reduced; the effectual traditional stage arm of having solved passes through exclusive remote controller control, and need combine together through light control cabinet control stage light and stage arm simultaneously, increases the cost of stage performance and the problem of the degree of difficulty.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (4)
1. A control method of a stage mechanical arm is used for controlling the motion track of the stage mechanical arm and is characterized in that the stage mechanical arm comprises a driver, a mechanical arm moving end and a plurality of mechanical arm joints, wherein motors are arranged on the mechanical arm joints, the driver is used for driving the motors to run, the motors run to drive the mechanical arm joints to move so as to drive the mechanical arm moving end to move according to a certain track, and the mechanical arm moving end is used for bearing a stage unit; the control method at least comprises the following steps:
s1: inputting the motion coordinate of the motion end of the stage mechanical arm into external off-line programming software, converting the motion coordinate into a motion track by the external off-line programming software, decomposing the motion track into the rotation angle of each mechanical arm joint in each time interval, and transmitting the rotation angle to instruction conversion software;
s2: converting the rotation angle of the mechanical arm joint into a stage mechanical arm motion track instruction which can be identified by a light control console by using instruction conversion software, and inputting the instruction into the light control console;
the step S2 further includes a method for converting the angle of the mechanical arm joint into a light console command, including the steps of:
a1: the instruction conversion software receives the rotation angle of the mechanical arm joint, and the rotation speed and the rotation angle of each motor in each time interval are calculated by using a speed formula and a position formula;
a2: the instruction conversion software converts the rotating speed and the rotating angle into an instruction of a motion track of the stage mechanical arm which can be identified by the light console, and inputs the instruction into the light console;
the velocity formula is:
in the velocity formula:
a is a conversion parameter of each digit of a light console push rod;
alpha is the rotation angle of the mechanical arm joint;
delta alpha is the relative rotation angle of the mechanical arm joint obtained by subtracting the rotation angle of the current mechanical arm joint from the rotation angle of the mechanical arm joint in the next period of time;
i is the mechanical arm reduction ratio;
ωmaxis the maximum angular velocity of the motor;
Tintis the time of each time interval;
v is the percentage of the rotating speed of the motor, and the percentage of the rotating speed is an instruction which can be identified and received by the light console;
the position formula is:
α×i×An＝β
in the position formula:
alpha is the rotation angle of the mechanical arm joint;
i is the mechanical arm reduction ratio;
Anthe conversion parameters of the push rod of the light console are calculated by multiplying A by the number n of the push rod;
beta is the absolute rotation angle of the motor, and the absolute rotation angle is an instruction which can be received by the light console;
s3: the light console transmits the received instruction to the driver, and the driver drives the motor of the stage mechanical arm to move according to the received instruction, so that the motor drives the mechanical arm joint to move according to the instruction received by the driver to drive the moving end of the stage mechanical arm to move according to the pre-input action coordinate to move a specific motion track.
2. A control method according to claim 1, characterized in that the driver is arranged to recognize an absolute value of a rotation angle of the motor; the recognition range of the driver is from the minimum rotation angle of the motor to the maximum rotation angle of the motor.
3. The control method according to claim 1, wherein the command transmitted by the light console is a command conforming to DMX512 or Artnet protocol.
4. The control method according to claim 2, characterized in that the drive can receive instructions conforming to the DMX512 or Artnet protocol and it matches the model of the stage robot arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711080759.5A CN107621830B (en) | 2017-11-06 | 2017-11-06 | Control method of stage mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711080759.5A CN107621830B (en) | 2017-11-06 | 2017-11-06 | Control method of stage mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107621830A CN107621830A (en) | 2018-01-23 |
| CN107621830B true CN107621830B (en) | 2021-01-29 |
Family
ID=61093644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711080759.5A Active CN107621830B (en) | 2017-11-06 | 2017-11-06 | Control method of stage mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107621830B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7360775B2 (en) * | 2005-04-28 | 2008-04-22 | Dana Heavy Vehicle Systems Group, Llc | SLA independent vehicle suspension with air bag springs |
| CN104290096B (en) * | 2014-09-16 | 2015-12-09 | 湖南大学 | A kind of joint of mechanical arm motor control method based on CANopen and system |
| CN205466215U (en) * | 2016-01-23 | 2016-08-17 | 李辉斌 | Controlling means and because device's stage machine arm control system of drive stage machine arm |
| CN205466218U (en) * | 2016-02-04 | 2016-08-17 | 李辉斌 | Servo motor drive arrangement and stage machine arm control system based on DMX512 agreement |
| CN105605500A (en) * | 2016-03-18 | 2016-05-25 | 林红文 | Energy-saving type stage projection lamp |
| CN205608427U (en) * | 2016-04-12 | 2016-09-28 | 李辉斌 | Control system of stage machine arm and applied this stage machine arm |
-
2017
- 2017-11-06 CN CN201711080759.5A patent/CN107621830B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107621830A (en) | 2018-01-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6408224B1 (en) | Rotary articulated robot and method of control thereof | |
| CN110405766A (en) | A kind of the manipulator real-time positioning apparatus and control system of industrial robot | |
| CN105666519A (en) | Manipulator and realization method of snake-shaped machine arm system device | |
| CN113127989B (en) | Six-degree-of-freedom mechanical arm inverse kinematics analytic solution control method | |
| CN106003023A (en) | Robot motion control system and method | |
| CN103076752A (en) | Steering-engine controller, steering-engine controlling method and controlling system | |
| CN108549303A (en) | Three axis servos control integrated control system | |
| CN104742120A (en) | Dragging teaching mechanical arm with power | |
| CN109605344A (en) | A kind of multiple degrees of freedom open loop stepping series connection mechanical arm and its control method | |
| CN107621830B (en) | Control method of stage mechanical arm | |
| CN209497405U (en) | A kind of AGV servo motor driving control system | |
| CN108436296A (en) | A kind of robot Scissoring device | |
| CN110515358B (en) | Control method of automatic production line parallel control system based on integrated controller | |
| CN107662210A (en) | A kind of resistance to irradiation dynamic power machine hand control system | |
| CN108237535A (en) | A kind of mechanical arm and its control system and method | |
| CN205608427U (en) | Control system of stage machine arm and applied this stage machine arm | |
| CN107322571A (en) | A kind of connection in series-parallel drags teaching robot | |
| CN205466218U (en) | Servo motor drive arrangement and stage machine arm control system based on DMX512 agreement | |
| CN111725733B (en) | Power transmission line inspection robot and operation control method thereof | |
| CN104626139A (en) | Configured robot | |
| CN105666479A (en) | Control methods for driving rear-mounted continuous multi-joint mechanical arm | |
| JP2007268662A (en) | Robot system | |
| CN204086782U (en) | Motion Lift-on/Lift-off System | |
| CN106423610A (en) | Multi-degree-of-freedom powder-spraying manipulator | |
| JP3671219B2 (en) | Control method for articulated robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |